Navigation; -space; obstacle avoidance; swam robot system
Issue Date
2011-04
Publisher
제어·로봇·시스템학회
Citation
International Journal of Control, Automation, and Systems, v. 9, NO. 2, Page. 384-390
Abstract
This paper deals with a navigation algorithm for swarm robot systems in which multiple mobile robots work together. The motion of each mobile robot is modeled in such a way to have more inputs than the number of outputs. The -space projection method of this model is employed to resolve the motion of the swarm robot system while avoiding obstacles. The feasibility of the proposed navigation algorithm is verified through a simulation study using several swarm robot models.