Trajectory equilibrium state detection and avoidance algorithm for multi-autonomous potential field mobile robots

T. Statheros, G. Howells, K. McDonald-Maier

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

An exceptionally efficient algorithm for local multi-mobile robot autonomous navigation is presented. The algorithm guides each robot independently although the algorithmic principle is identical for each robot. This approach is a combination of a novel rule-based mathematical algorithm and the virtual force field (VFF) navigational method. The need for the combinational algorithm is due to VFF's inability to guide efficiently multi-autonomous robots in the same environment owing to a trajectory equilibrium state (TES). TES is a new state that dramatically degrades performance of the VFF and is firstly identified and defined within this study. Test results of the novel algorithm yield near-optimum trajectories for the mobile robots.

Original languageEnglish
Pages (from-to)799-801
Number of pages3
JournalElectronics Letters
Volume43
Issue number15
DOIs
Publication statusPublished - 1 Aug 2007
Externally publishedYes

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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