Flocking with obstacle avoidance: A new distributed coordination algorithm based on Voronoi partitions
2005 (English)In: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4, IEEE , 2005, 1785-1790 p.Conference paper (Refereed)
A new distributed coordination algorithm for multi-vehicle systems is presented in this paper. The algorithm combines a particular choice of navigation function with Voronoi partitions. This results not only in obstacle avoidance and motion to the goal, but also in a desirable geographical distribution of the vehicles. Our algorithm is decentralized in that each vehicle needs only to know the position of neighboring vehicles, but no other inter-vehicle communication or centralized control are required. The algorithm gives a natural priority to safety, goal convergence, and formation keeping, in that (1) collision avoidance is guaranteed under all circumstances, (2) the vehicles will move toward the goal as long as a given optimization problem is feasible, and (3) if prior criteria admit, the vehicles tend to a desirable lattice formation. These theoretical properties are discussed in the paper and the performance of the algorithm is illustrated in simulations with realistic models of twenty all-terrain vehicles. Planned experimental evaluation using customized miniature cars is also briefly described.
Place, publisher, year, edition, pages
IEEE , 2005. 1785-1790 p.
, EEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
multi-robot systems; flocking; swarming; obstacle avoidance
IdentifiersURN: urn:nbn:se:kth:diva-84735ISI: 000235460101094ScopusID: 2-s2.0-33846179363OAI: oai:DiVA.org:kth-84735DiVA: diva2:499557
IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, APR 18-22, 2005
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