Scholarlink

<p>In this paper, we propose a new strategy to solve the multi-robot formation problem. Considering a set of holonomic robots, a decentralized algorithm is proposed to guide the robots to achieve a predefined formation while avoiding collisions with non-convex obstacles, dynamic obstacles, and other robots. Local collision avoidance is achieved using a variant of the well-known ORCA (optical reciprocal collision avoidance) algorithm. We modify this algorithm to ensure the continuity of the robots’ controls (velocities). The implementation of an online replanning algorithm, <i>RRT</i>, is essential to guide the robots and prevent them from getting stuck in minima. The resulting method guarantees formation convergence, and several simulations are presented to illustrate its effectiveness.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Decentralized multi-robot formation control in environments with non-convex and dynamic obstacles based on path planning algorithms

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年1月9日

查看全文
  • Luis E. Ruiz-Fernandez,
  • Javier Ruiz-Leon,
  • David Gomez-Gutierrez,
  • Rafael Murrieta-Cid

摘要

In this paper, we propose a new strategy to solve the multi-robot formation problem. Considering a set of holonomic robots, a decentralized algorithm is proposed to guide the robots to achieve a predefined formation while avoiding collisions with non-convex obstacles, dynamic obstacles, and other robots. Local collision avoidance is achieved using a variant of the well-known ORCA (optical reciprocal collision avoidance) algorithm. We modify this algorithm to ensure the continuity of the robots’ controls (velocities). The implementation of an online replanning algorithm, RRT, is essential to guide the robots and prevent them from getting stuck in minima. The resulting method guarantees formation convergence, and several simulations are presented to illustrate its effectiveness.