A laser-based multi-robot collision avoidance approach in unknown environments
Yu, Yingying1,2; Wu, Zhiyong1,2; Cao, Zhiqiang1,2; Pang, Lei1,2; Ren, Liang1,2; Zhou, Chao1,2
2018-02-25
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷号15期号:1
文章类型Article
摘要As a fundamental problem, collision avoidance for multiple robots still need further investigation, especially for many robots aggregating in a tight space. In this article, a laser-based collision avoidance approach is proposed in complex multi-robot environments. The laser data is analyzed and processed in terms of distance thresholding, safe passageway analysis, obstacles repulsion, goal position attraction, and inter-robot safety. Specifically, the safe passageway analysis is used to remove unsafe directions effectively, and inter-robot safety processing reduces the possibility of being selected for the directions affected by the neighboring robots. On this basis, an optimized decision is made to guarantee that the robots achieve collision-free motions even in crowded environments. The validity of the proposed approach is verified by simulations.
关键词Laser-based Collision Avoidance Inter-robot Safety Multiple Robots Unknown Environments
WOS标题词Science & Technology ; Technology
DOI10.1177/1729881418759107
关键词[WOS]MODEL ; AGVS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61633017 ; National High Technology Research and Development Program of China (863 Program)(2015AA042201) ; Beijing Natural Science Foundation(4161002) ; Key Research and Development Program of Shandong Province(2017CXGC0925) ; 61633020)
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000426281800001
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21970
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
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Yu, Yingying,Wu, Zhiyong,Cao, Zhiqiang,et al. A laser-based multi-robot collision avoidance approach in unknown environments[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1).
APA Yu, Yingying,Wu, Zhiyong,Cao, Zhiqiang,Pang, Lei,Ren, Liang,&Zhou, Chao.(2018).A laser-based multi-robot collision avoidance approach in unknown environments.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1).
MLA Yu, Yingying,et al."A laser-based multi-robot collision avoidance approach in unknown environments".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018).
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