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Authors: Defoort Michael ; Arnaud Doniec and Noury Bouraqadi

Affiliation: Ecole de Mines de Douai, France

ISBN: 978-989-674-000-9

Keyword(s): Decentralized intelligence, Real-time path planning, Collision avoidance, Receding horizon, Nonholonomic mobile robots.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Control and Supervision Systems ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: This paper presents a distributed strategy for the navigation of multiple autonomous robots. The proposed planning scheme combines a decentralized receding horizon motion planner, in which each robot computes its own planned trajectory locally, with a fast navigation controller based on artificial potential fields and sliding mode control technique. This algorithm solves the collision avoidance problem. It explicitly accounts for computation time and is decentralized, making it suited for real time applications. Simulation studies are provided in order to show the effectiveness of the proposed approach.

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Paper citation in several formats:
Michael D.; Doniec A.; Bouraqadi N. and (2009). A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION.In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 44-51. DOI: 10.5220/0002194900440051

@conference{icinco09,
author={Defoort Michael and Arnaud Doniec and Noury Bouraqadi},
title={A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002194900440051},
isbn={978-989-674-000-9},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION
SN - 978-989-674-000-9
AU - Michael, D.
AU - Doniec, A.
AU - Bouraqadi, N.
PY - 2009
SP - 44
EP - 51
DO - 10.5220/0002194900440051

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