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 |
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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: | 05 Nov 2024 09:32 UTC |
Resource URI: | https://kar.kent.ac.uk/id/eprint/2029 (The current URI for this page, for reference purposes) |
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