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An adjustable force field for multiple robot mission and path planning

Abdi, Hamid, Black, Timothy and Nahavandi, Saeid 2011, An adjustable force field for multiple robot mission and path planning, in SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics, IEEE, [Anchorage, Alaska], pp. 1950-1955.

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Title An adjustable force field for multiple robot mission and path planning
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Black, Timothy
Nahavandi, Saeid
Conference name IEEE International Conference of Systems, Man, and Cybernetics (2011 : Anchorage, Alaska)
Conference location Anchorage, Alaska
Conference dates 9-12 Oct. 2011
Title of proceedings SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics
Editor(s) [Unknown]
Publication date 2011
Conference series IEEE International Conference of Systems, Man, and Cybernetics
Start page 1950
End page 1955
Total pages 6
Publisher IEEE
Place of publication [Anchorage, Alaska]
Keyword(s) collision-free paths
distributed tasks
dynamic environments
force field analysis
force field models
force fields
multiple mobile robot
multiple robot
target point
Summary Mission and path planning for multiple robots in dynamic environments is required when multiple mobile robots or unmanned vehicles are used for geographically distributed tasks. Assigning tasks and paths for robots for cooperatively accomplishing a mission of reaching to number of target points are addressed in this paper. The methodology that is proposed is based on using an adjustable force field which is suitable for dynamic environment. From the force field analysis, the decisions to assign tasks for each robot are then made. The force field is also used to plan a collision free path for each robot. Adjustable weights for the force field model are proposed to satisfy the constraints of the motion. In this research, the constraints are the cooperation of the robots, the precedence between the targets and between robots, and the discrimination between different obstacles. Two simulations for mission and path planning in 2D and 3D dynamic spaces with multiple robots are presented based on the proposed adjustable force filed. The result of the mission and path planning for three robots cooperatively doing eight target points are shown.
ISBN 1457706520
9781457706523
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2011, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042223

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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