Simultaneous arrival on target in an obstacle field using Dubins-Line-of-Sight (DLOS) algorithm
| Autor: | Hui Jean Quek, R. U. Gobithaasan, Sampath Kumar Veera Ragavan, Madhavan Shanmugavel |
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| Rok vydání: | 2018 |
| Předmět: |
030213 general clinical medicine
0209 industrial biotechnology Computer science Rendezvous 02 engineering and technology Field (computer science) 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Obstacle Path (graph theory) Obstacle avoidance Robot Motion planning Algorithm Search and rescue |
| Zdroj: | 2018 IEEE 4th International Symposium in Robotics and Manufacturing Automation (ROMA). |
| DOI: | 10.1109/roma46407.2018.8986701 |
| Popis: | When a robots mission is planned based on the capability of a single robot its loss will cost the whole mission. This limitation can be effectively overcome by using a group of robots on a cooperative mission. However, this introduces several technical and implementation challenges such as cooperative strategies, path and trajectory planning of a group of robots, obstacles avoidance, rendezvous planning. This paper presents the design, simulation, and experimental verification of a cooperative robot mission for target searching and simultaneous arrival on target. Cooperative strategies and obstacle avoidance based on Dubins paths were designed and implemented. A novel rendezvous algorithm for simultaneous arrival on target through velocity control and a simple Dubins-Line-of-Sight (DLOS) algorithm has been successfully implemented. The effectiveness and performance of the designed cooperative strategies and path planning were successfully verified using simulations and experiments. The solution is general and can be applied to a wide range of robot applications. |
| Databáze: | OpenAIRE |
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