Closed loop navigation for multiple holonomic vehicles

We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expressions for the robot potential functions guarantee global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulations.

[1]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

[2]  A. Steinhage,et al.  The dynamic approach to autonomous robot navigation , 1997, ISIE '97 Proceeding of the IEEE International Symposium on Industrial Electronics.

[3]  Kostas J. Kyriakopoulos,et al.  Nonholonomic motion planning for mobile manipulators , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[4]  Vladimir J. Lumelsky,et al.  Decentralized Motion Planning for Multiple Mobile Robots: The Cocktail Party Model , 1997, Auton. Robots.

[5]  Mark H. Overmars,et al.  Coordinated motion planning for multiple car-like robots using probabilistic roadmaps , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Vijay Kumar,et al.  Motion planning for multiple mobile manipulators , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  D. Koditschek,et al.  Robot navigation functions on manifolds with boundary , 1990 .

[8]  B.J. Driessen,et al.  Decentralized fuzzy control of multiple nonholonomic vehicles , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[9]  Eduardo Todt,et al.  Analysis and classification of multiple robot coordination methods , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  Dimitri P. Bertsekas,et al.  Nonlinear Programming , 1997 .

[11]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[12]  Jean-Claude Latombe,et al.  Numerical potential field techniques for robot path planning , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[13]  Yunhui Liu,et al.  A practical algorithm for planning collision-free coordinated motion of multiple mobile robots , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[14]  Kostas J. Kyriakopoulos,et al.  Nonholonomic navigation and control of cooperating mobile manipulators , 2003, IEEE Trans. Robotics Autom..

[15]  Vijay Kumar,et al.  Nonholonomic motion planning for multiple mobile manipulators , 1997, Proceedings of International Conference on Robotics and Automation.

[16]  R. Brockett.  Control Theory and Singular Riemannian Geometry , 1982 .

[17]  Jesse Freeman,et al.  in Morse theory, , 1999 .

[18]  Alessandro Saffiotti,et al.  The uses of fuzzy logic in autonomous robot navigation , 1997, Soft Comput..

[19]  Daniel E. Koditschek,et al.  Robot planning and control via potential functions , 1989 .

[20]  Daniel E. Koditschek,et al.  The construction of analytic diffeomorphisms for exact robot navigation on star worlds , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[21]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..

[22]  Pierre Tournassoud.  A strategy for obstacle avoidance and its application to mullti-robot systems , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[23]  Kostas J. Kyriakopoulos,et al.  Nonholonomic stabilization with collision avoidance for mobile robots , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[24]  Joel W. Burdick,et al.  Time-varying feedback control for nonholonomic mobile robots forming group formations , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[25]  Simon X. Yang,et al.  A non-time based tracking controller for multiple nonholonomic mobile robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[26]  Daniel E. Koditschek,et al.  Exact robot navigation using artificial potential functions , 1992, IEEE Trans. Robotics Autom..

[27]  Jean-Claude Latombe,et al.  A Monte-Carlo algorithm for path planning with many degrees of freedom , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[28]  D. Koditschek,et al.  The construction of analytic diffeomorphisms for exact robot navigation on star worlds , 1991 .

[29]  Tomás Lozano-Pérez,et al.  Deadlock-free and collision-free coordination of two robot manipulators , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[30]  Kostas J. Kyriakopoulos,et al.  Closed loop navigation for multiple non-holonomic vehicles , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[31]  Max Q.-H. Meng,et al.  Real-time motion planning of car-like robots , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).