Roads sweeping by unmanned multi-vehicle formations
A system for autonomous roads sweeping by applying formations of mobile robots is presented in this paper. The proposed approach based on Receding Horizon Control solves the formation navigation, planning and stabilization in real-word environments with static and dynamic obstacles. The formations employed for sweeping are built up ad-hoc, taking into account length of robots’ effectors (e.g. shovels, sweepers) and width of the working area. Presented method enables to smoothly merge smaller teams with the view of sweeping the larger roads (e.g. runways, highways). The formations can operate in two modes: sweeping and moving. In the sweeping mode, the formations are guided with an aim to effectively cover the cleaning roads, while in the moving mode, the planning system emphasizes the effort to reach a desired target. Furthermore, the moving mode enables to autonomously design complex formation maneuvers, as is reverse driving or turning on spot.
Martin Saska Vojt(e)ch Von(a)sek Libor P(r)eu(c)il
Department of Cybernetics,Faculty of Electrical Engineering,Czech Technical University in Prague Faculty of Electrical Engineering,Czech Technical University in Prague
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
631-636
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）