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Multi-Robot nonlinear model predictive formation control: the obstacle avoidance problem
| Content Provider | Scilit |
|---|---|
| Author | Nascimento, Tiago P. Conceição, André G. S. Moreira, António Paulo |
| Copyright Year | 2014 |
| Description | SUMMARY This paper discusses about a proposed solution to the obstacle avoidance problem in multi-robot systems when applied to active target tracking. It is explained how a nonlinear model predictive formation control (NMPFC) previously proposed solves this problem of fixed and moving obstacle avoidance. First, an approach is presented which uses potential functions as terms of the NMPFC. These terms penalize the proximity with mates and obstacles. A strategy to avoid singularity problems with the potential functions using a modified A* path planning algorithm was then introduced. Results with simulations and experiments with real robots are presented and discussed demonstrating the efficiency of the proposed approach. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/AB1450C1D722863CDF1E2EECD31F0F1D/S0263574714001696a.pdf/div-class-title-multi-robot-nonlinear-model-predictive-formation-control-the-obstacle-avoidance-problem-div.pdf |
| Ending Page | 567 |
| Page Count | 19 |
| Starting Page | 549 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574714001696 |
| Journal | Robotica |
| Issue Number | 3 |
| Volume Number | 34 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2016-03-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Obstacle Avoidance Nonlinear Model Predictive Control Mobile Robots |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
