Formation driving using particle swarm optimization and reactive obstacle avoidance

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 1, Issue PART 1, 2006, Pages 32-37

  Hess, Martin ^a   Saska, Martin ^a   Schilling, Klaus ^a  

^a UNIVERSITY OF WÜRZBURG   (Germany)

Author keywords

Carlike robots; Formation driving; Leader following; Multi robot; Obstacle avoidance; Particle swarm optimization; Path planning

Indexed keywords

COLLISION AVOIDANCE; MOTION PLANNING; PARTICLE SWARM OPTIMIZATION (PSO); ROBOTS;

CAR-LIKE ROBOT; EVOLUTIONARY TECHNIQUES; FORMATION DRIVING; LEADER FOLLOWING; LEADER-FOLLOWING APPROACHES; MULTIROBOTS; PATH PLANNING PROBLEMS; REACTIVE OBSTACLE AVOIDANCE;

ROBOT PROGRAMMING;

EID: 80051487221     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20061002-2-br-4906.00007     Document Type: Conference Paper

References (19)

1. Balch, T. and R. C. Arkin (1998). Behaviourbased formation control for multi-robot teams. IEEE Transactions on Robotics and Automation 14(6), 926-939. (Pubitemid 128743571)
2. Barfoot, T. D. and C. M. Clark (2004). Motion planning for formations of mobile robots. Robotics and Autonomous Systems 46, 65-78.
3. Barfoot, T. D., C. M. Clark and S. M. Rock (2002). Kinematic path-planning for formations of mobile robots with a nonholonomic constraint. In: IEEE International Confer- ence on Intelligent Robots and Systems.
4. Belta, C. and V. Kumar (2004). Optimal motion generation for groups of robots a geometric approach. ASME Journal of Mechanical Design 126, 63-70.
5. Borenstein, J. and Y. Koren (1991). The vector field histogram: Fast obstacle avoidance for mobile robots. IEEE Journal of Robotics and Automation 7(3), 278-288. (Pubitemid 21660990)
6. Das, A. K., R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer and C. J. Taylor (2002). A vision-based formation control framework. IEEE Transactions on Robotics and Automation 18(5), 813-825.
7. Desai, J. P., J. P. Ostrowski and V. Kumar (2001). Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation 17(6), 905-908. (Pubitemid 34125088)
8. Elkaim, G. H. and M. Siegel (2005). A lightweight control methodology for formation control of vehicle swarms. In: IFAC World Congress 2005.
9. Fredslund, J. and M. J. Mataric (2002). A general algorithm for robot formations using local sensing and minimal communication. IEEE Transactions on Robotics and Automation 18(5), 837-846.
10. Fujimori, A., T. Fujimoto and G. Bohacs (2005). Formated navigation of mobile robots using distributed leader-follower control. In: IFAC World Congress 2005.
11. Gustavi, T., X. Hu and M. Karasalo (2005). Multirobot formation control and terrain servoing with limited sensor information. In: IFAC World Congress 2005.
12. Hess, Martin (2005). Formationsbewegung mit reaktiver Hindernisvermeidung bei mobilen Robotern mit Ackermann-Lenkung. Diploma thesis. in german language.
13. Kar-Han, T. and M. A. Lewis (1996). Virtual structures for high-precision cooperative mobile robotic control. In: International Confe ence on Intelligent Robots and Systems.
14. Kennedy, J. and R.C. Eberhart (1995). Particle swarm optimization. In: Proceedings International Conference on Neural Networks IEEE.
15. Latombe, J.-C. (1996). Robot motion planning. fourth ed. Kluver Academic Publishers.
16. Macas, M., D. Novak and L. Lhotska (2006). Particle swarm optimization for hidden markov models with application to intracranial pressure analysis. Biosignal 2006.
17. Meng, H. and P.D. Picton (1992). A neural network for collision-free path planning. Artificial Neural Networks 2(1), 591-4.
18. Reynolds, C. W. (1987). Flocks, herds, and schools: A distributed behavioral model. Computer Graphics 21(4), 25-34.
19. Ye, J. and R. Qu (1999). Fairing of parametric cubic splines. Mathematical and Computer Modelling 30, 121-31. (Pubitemid 29449828)