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

Statheros, T. and Howells, G. and McDonald-Maier, K. (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. (The full text of this publication is not available from this repository)

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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
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics (see also: telecommunications) > TK7880 Applications of electronics (inc industrial & domestic)
Divisions: Faculties > Science Technology and Medical Studies > School of Engineering and Digital Arts > Image and Information Engineering
Depositing User: Stephen Holland
Date Deposited: 19 Dec 2007 19:24
Last Modified: 14 Jan 2010 14:05
Resource URI: http://kar.kent.ac.uk/id/eprint/2029 (The current URI for this page, for reference purposes)
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