Experimental study of robot formation control and navigation using potential functions and panel method

Merheb A., Gazi V., SEZER UZOL N.

Joint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010, Munich, Almanya, 7 - 09 Haziran 2010, cilt.1, ss.586-593 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 1
  • Basıldığı Şehir: Munich
  • Basıldığı Ülke: Almanya
  • Sayfa Sayıları: ss.586-593
  • Yıldız Teknik Üniversitesi Adresli: Evet

Özet

In this paper an implementation of a collision free navigation algorithm for robot swarm based on the panel method is discussed. The well known panel method is used to solve the governing equations for inviscid incompressible potential flow around rigid objects with tangency boundary conditions, providing the robots with safe trajectories to the target. In addition, artificial potential functions are used to force the swarm to achieve a predefined geometrical shape. Experimental results are obtained using e-puck mini-robots navigating in an environment with complex shaped obstacles.