A feedback-based multiagent navigation framework
A feedback-based multiagent navigation framework
复制标题
基于反馈的多智能体导航框架
DOI：
10.1080/00207720500438597
复制
发表时间：
2006
影响因子：
4.3
通讯作者：
K. Kyriakopoulos
中科院分区：
文献类型：
--
作者：
S. Loizou;K. Kyriakopoulos
本文提出了一种多机器人在线导航方法，将导航函数的概念从单点大小的完整机器人域扩展到多个非点大小的完整机器人域。介绍了一种适合多机器人导航的与坏集的距离度量方法。导出的闭形式解析解提供了一种适合实现的基于反馈的导航方案，理论上保证了全局收敛性和避碰性。通过非平凡仿真验证了该方法的有效性。
In this paper, an on-line multirobot navigation methodology is presented, extending the concept of navigation functions from the single-point-sized holonomic robot domain to the domain of multiple non-point-sized holonomic robots. An appropriate measure of the distance from bad sets, suitable for multirobot navigation, is introduced. The derived closed form analytic solution provides a feedback-based navigation scheme, suitable for implementation, with theoretically guaranteed global convergence and collision avoidance properties. The proposed methodology is validated through non-trivial simulations.