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Multiple Robots Formation Manoeuvring and Collision Avoidance Strategy 被引量:1
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作者 Ao-Lei Yang Wasif Naeem +2 位作者 Min-Rui Fei Li Liu Xiao-Wei Tu 《International Journal of Automation and computing》 EI CSCD 2017年第6期696-705,共10页
This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then ... This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then proposed to calculate the turning-compliant waypoints supporting the multi-robot formation manoeuvre. The collision avoidance strategy based on the formation control is presented to translate the collision avoidance problem into the stability problem of the formation. The extension-decomposition-aggregation scheme is next applied to solve the formation control problem and subsequently achieve the collision avoidance during the formation manoeuvre. Simulation study finally shows that the collision avoidance problem can be conveniently solved if the stability of the constructed formation including unidentified objects can be satisfied. 展开更多
关键词 Path planning formation control manoeuvring waypoints line-of-sight collision avoidance
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