Multirobot Navigation Method with Adaptive Formation and Decision Making of Behavior-based Leader
| Autor: | Chih-Yuan Yu, 于志遠 |
|---|---|
| Rok vydání: | 2018 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 106 This paper proposes a multirobot navigation method for unknown environments containing complex obstacles or dynamic obstacles. The multirobot system uses leader-follower relationship to maintain their formation. A leader aims to guide the robot team to the destination with three basic behaviors: go-to-goal, avoid-obstacle and follow-the-wall, and making decisions of leader selection and formation switching. A follower aims to follow the leader and keep a safe distance between other followers and obstacles with the proposed combined force approach. When a robot team navigates in a safe place, the formation is maintained by Coulomb's-law-based equation. If the robot team navigates into a tunnel, the leader informs followers to drive into the tunnel one after another to avoid collision. Leader selection selects a new leader while a robot team encounters a dead end in a tunnel. With the new leader, the robot team can exit the dead-end tunnel in an effective way. A series of simulation results are presented to describe the proposed method can navigate multirobot in unknown environments. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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