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Flexible trajectory planning of multiple mobile robot systems under dynamic environment

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3 Author(s)
Chang Ya-Chun ; Dept. of Precision Eng., Tokai Univ., Hiratsuka, Japan ; Hiyama, Y. ; Yamamoto, Y.

This article presents a path planner for multiple mobile robots maneuvering in a dynamic environment. The path planner is based on the potential field method. The local minima problem has been solved by redefining the repulsive potential field. Also the system controller (look-ahead control} gives mobile robot the capability of controlling the distance between the reference point and the center of the robot. As a result, the potential field method becomes more effective and makes the mobile robot follow a smooth trajectory in a flexible manner for attaining the target position on its own whether in a static or dynamic environment.

Published in:

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on  (Volume:2 )

Date of Conference:

2-4 Sept. 2004