In this paper a decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environment is presented. The proposed technique is based on the concept of Null Space Based behavioral approach to merge different swarm tasks. In particular, the algorithm focuses on the possibility of sharing sensors' data in order to avoid obstacles that can be detected in the environment. The effectiveness of our approach is investigated by means of numerical simulations with different typology of environment. The paper is organized as follows: in Section 2 the problem statement and the model of the robots are given; in Section 3 the control scheme is presented, with a brief introduction on Null-Space-Behavioral approach, and with particular attention to the obstacle avoidance problem. In Section 4 some simulation results that dimostrate the efficiency of the algorithm are presented.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environments


    Weitere Titelangaben:

    Ein dezentraler Regelungsalgorithmus für Schwarmverhalten und Hindernisvermeidung in unbekannten Umgebungen


    Beteiligte:


    Erscheinungsdatum :

    2008


    Format / Umfang :

    6 Seiten, 13 Bilder, 17 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Multi-UAV Obstacle Avoidance and Formation Control in Unknown Environments

    Yawen Li / Pengfei Zhang / Zhongliu Wang et al. | DOAJ | 2024

    Freier Zugriff

    Robust Hybrid Control for Unknown Obstacle Avoidance

    Naderhirn, M. / Langthaler, P. / del Re, L. et al. | British Library Conference Proceedings | 2009


    Robust Hybrid Control for Unknown Obstacle Avoidance

    Naderhirn, Michael / Langthaler, Peter / del Re, Luigi | AIAA | 2009



    Formation control and obstacle avoidance in swarm robots

    Shallal, Abidaoun Hamdan / Uçan, Osman Nuri / Bayat, Oğuz | BASE | 2018

    Freier Zugriff