Multi-Robot nonlinear model predictive formation control: the obstacle avoidance problem

• Type: Article in International Scientific Journal
• Date: 2016

Authors

Nascimento, TP (Author) Other; Conceicao, AGS (Author) Other; António Paulo Moreira (Author) FEUP

Journal

Title: Robotica

Vol. 34

Pages: 549-567

ISSN: 0263-5747

Publisher: Cambridge University Press

Indexing

ISI Web of Knowledge - 16 Citations

Scopus - 19 Citations

Other information

Authenticus ID: P-00K-4VH

DOI: 10.1017/s0263574714001696

Abstract (EN): This paper discusses about a proposed solution to the obstacle avoidance problem in multi-robot systems when applied to active target tracking. It is explained how a nonlinear model predictive formation control (NMPFC) previously proposed solves this problem of fixed and moving obstacle avoidance. First, an approach is presented which uses potential functions as terms of the NMPFC. These terms penalize the proximity with mates and obstacles. A strategy to avoid singularity problems with the potential functions using a modified A* path planning algorithm was then introduced. Results with simulations and experiments with real robots are presented and discussed demonstrating the efficiency of the proposed approach.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 19