Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System

摘要：

This paper presents formation and obstacle avoidance in the unknown environment of multi-robot system. With the leader-following algorithm, multi-robot system can form and keep various formations and realize formation transformation. Through artificial potential field algorithm, multi-robot system can successfully avoid obstacle in the unknown environment while keeping formation. The proposed method not only can realize obstacle avoidance of multi-robot system with formation in the unknown environment, but also can be adopted in real time and applicable to many different situations. By means of Pioneer3 mobile robot platform, the simulation and experimental works, which considering various formations and unknown environment, demonstrate the effectiveness of the proposed method.

关键词： Multi-agent system formation obstacle avoidance unknown environment

作者: Tao Zhang Xiaqin Li Yi Zhu Song Chen Yu Cheng Jingyan Song

作者单位: Department of Automation,Tsinghua University,Beijing 100084,China Department of Biomedical Engineering,Tsinghua University,Beijing 100084,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 729-734

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）