Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment

Autor:	Yuki Origane, Yuya Hattori, Daisuke Kurabayashi
Jazyk:	angličtina
Rok vydání:	2021
Předmět:	robotic swarm collision avoidance control barrier function coupled oscillator system obstacle region Mathematics QA1-939
Zdroj:	Symmetry, Vol 13, Iss 3, p 478 (2021)
Druh dokumentu:	article
ISSN:	2073-8994
DOI:	10.3390/sym13030478
Popis:	We consider an autonomous and decentralized mobile robotic swarm that does not require an advanced communication system; moreover, each robot must pass a narrow space preserving the distance with other robots. The control barrier function (CBF) method is useful for robotic swarms to guarantee collision avoidance. However, introducing CBF inequalities can cancel other objectives and sometimes causes a deadlock problem. Therefore, we introduce a coupled oscillator system to generate asymmetric global order by itself to avoid deadlock. By generating an effective global order in the swarm, each robot adequately moves to a target position without requiring high-cost communication systems.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/35d72dd13c904bcab0b2f6b8479a638f Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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