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Trajectory equilibrium state detection and avoidance algorithm for multi-autonomous potential field mobile robots

Statheros, Thomas, Howells, Gareth, McDonald-Maier, Klaus D. (2007) Trajectory equilibrium state detection and avoidance algorithm for multi-autonomous potential field mobile robots. Electronics Letters, 43 (15). pp. 799-801. ISSN 0013-5194. (doi:10.1049/el:20071197) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided) (KAR id:2029)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided.
Official URL:
http://dx.doi.org/10.1049/el:20071197

Abstract

An exceptionally efficient algorithm for local multi-mobile robot autonomous navigation is presented. The algorithm guides each robot independently although the algorithmic principle is identical for each robot. This approach is a combination of a novel rule-based mathematical algorithm and the virtual force field (VFF) navigational method. The need for the combinational algorithm is due to VFF's inability to guide efficiently multi-autonomous robots in the same environment owing to a trajectory equilibrium state (TES). TES is a new state that dramatically degrades performance of the VFF and is firstly identified and defined within this study. Test results of the novel algorithm yield near-optimum trajectories for the mobile robots.

Item Type: Article
DOI/Identification number: 10.1049/el:20071197
Subjects: T Technology > TK Electrical engineering. Electronics. Nuclear engineering > TK7800 Electronics > TK7880 Applications of electronics
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: Stephen Holland
Date Deposited: 19 Dec 2007 19:24 UTC
Last Modified: 16 Nov 2021 09:40 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/2029 (The current URI for this page, for reference purposes)

University of Kent Author Information

Statheros, Thomas.

Creator's ORCID:
CReDIT Contributor Roles:

Howells, Gareth.

Creator's ORCID: https://orcid.org/0000-0001-5590-0880
CReDIT Contributor Roles:
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