Composite Local Path Planning for Multi-Robot Obstacle Avoidance and Formation Navigation

Sung-Gil Wee, Yoon-Gu Kim, Jinung An, Dong-Ha Lee, Suk-Gyu Lee

Abstract


This paper proposes a composite local path planning method for multi-robot formation navigation with path deviation prevention using a repulsive function, A-star algorithm, and unscented Kalman filter (UKF). The repulsive function in the potential field method is used to avoid collisions among robots and obstacles. The A-star algorithm helps the robots to find an optimal local path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The proposed method of composite local path planning is verified by the simulation results of the collective robot navigation because the system maintains a designated formation and performs a successful return to the assigned formation with effective obstacle avoidance under various experimental conditions.

Keywords


Collision-free; Composite local path planning; Path deviation prevention; Path re-planning

Full Text:

PDF


Lululemon Black Friday cheap nfl jerseys Lululemon factory Outlet ny Black Friday discount tiffany outlet wholesale soccer jerseys online oakley black friday cheap nhl jerseys china cheap nfl jerseys north face black friday sale cheap nfl jerseys online Jordans Black Friday Sale 2015 Cheap Moncler Cyber Monday moncler outlet cheap soccer jerseys moncler outlet black friday cheap authentic nfl jerseys north face cyber monday Louboutin Black Friday canada wholesale cheap nfl jerseys lululemon cyber monday 2015 cheap nfl jerseys from china 2015 Cheap Moncler Black Friday Sale Moncler Cyber Monday 2015 cheap jerseys Lululemon Cyber Monday Sale jordans cyber monday deals 2015 cheap nike nfl jerseys Black Friday deals Lululemon 2015 jordan black friday 2015 Moncler Jackets Black Friday Sale 2015 Louboutin Pas Cher Black Friday 2015 Canada Lululemon north face black friday cheap wholesale soccer jerseys