Hybrid path planning of multi-robots for path deviation prevention

Title
Hybrid path planning of multi-robots for path deviation prevention
Author(s)
이석규김윤구[김윤구]최정원[최정원]위성길
Keywords
A; Avoid obstacles; Hybrid path planning; Optimal paths; Potential field methods; Swarm robots; Ukf; UKF (unscented Kalman filter); Algorithms; Collision avoidance; Data communication equipment; Industrial robots; Multipurpose robots; Motion planning
Issue Date
201305
Citation
Journal of Institute of Control, Robotics and Systems, v.19, no.5, pp.416 - 422
Abstract
This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, A* algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. A* algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.? ICROS 2013.
URI
http://hdl.handle.net/YU.REPOSITORY/25853http://dx.doi.org/10.5302/J.ICROS.2013.13.9005
ISSN
1976-5622
Appears in Collections:
공과대학 > 전기공학과 > Articles
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