A Novel Algorithm for the Coordination of Multiple Mobile Robots

  • Nusrettin Gulec
  • Mustafa Unel
Conference paper

DOI: 10.1007/11569596_45

Part of the Lecture Notes in Computer Science book series (LNCS, volume 3733)
Cite this paper as:
Gulec N., Unel M. (2005) A Novel Algorithm for the Coordination of Multiple Mobile Robots. In: Yolum ., Güngör T., Gürgen F., Özturan C. (eds) Computer and Information Sciences - ISCIS 2005. ISCIS 2005. Lecture Notes in Computer Science, vol 3733. Springer, Berlin, Heidelberg

Abstract

The coordinated motion of a group of autonomous mobile robots performing a coordinated task has been of high interest in the last decade. Previous research has shown that one of the main problems in the area is to avoid collisions of the robots with obstacles and other members of the group. In this work, we develop a novel coordination scheme along with a new online collision avoidance algorithm. In the proposed algorithm, reference trajectories for a group of autonomous mobile robots are generated in terms of linear and angular velocities of the robots. Several coordinated tasks have been presented and the results are verified by simulations.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Nusrettin Gulec
    • 1
  • Mustafa Unel
    • 1
  1. 1.Faculty of Engineering and Natural SciencesSabanci UniversityOrhanli-Tuzla,IstanbulTurkey

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