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Hybrid path planning of multi-robots for path deviation prevention

Title
Hybrid path planning of multi-robots for path deviation prevention
Translated Title
군집로봇의 경로이탈 방지를 위한 하이브리드 경로계획 기법
Authors
Wee, Sung GilKim, Yoon GuChoi, Jung-WonLee, Suk-Gyu
Issue Date
2013
Citation
Journal of Institute of Control, Robotics and Systems, 19(5), 416-422
Type
Article
Article Type
Article
Keywords
AAlgorithmsAvoid ObstaclesCollision AvoidanceData Communication EquipmentHybrid Path PlanningIndustrial RobotsMotion PlanningMultipurpose RobotsOptimal PathsPath-PlanningPotential Field MethodsRepulsive FunctionSwarm RobotsUKF (Unscented Kalman Filter)
ISSN
1976-5622
Abstract
This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, A* algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. A* algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.© ICROS 2013.
URI
http://hdl.handle.net/20.500.11750/3282
DOI
10.5302/J.ICROS.2013.13.9005
Publisher
Institute of Control, Robotics and Systems
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