Authors:
Defoort Michael
;
Arnaud Doniec
and
Noury Bouraqadi
Affiliation:
Ecole de Mines de Douai, France
Keyword(s):
Decentralized intelligence, Real-time path planning, Collision avoidance, Receding horizon, Nonholonomic mobile robots.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Control and Supervision Systems
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Planning and Scheduling
;
Robotics and Automation
;
Simulation and Modeling
;
Symbolic Systems
Abstract:
This paper presents a distributed strategy for the navigation of multiple autonomous robots. The proposed planning scheme combines a decentralized receding horizon motion planner, in which each robot computes its own planned trajectory locally, with a fast navigation controller based on artificial potential fields and sliding mode control technique. This algorithm solves the collision avoidance problem. It explicitly accounts for computation time and is decentralized, making it suited for real time applications. Simulation studies are provided in order to show the effectiveness of the proposed approach.