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IROS
2008
IEEE

Cooperative navigation using environment compliant robot formations

10 years 4 months ago
Cooperative navigation using environment compliant robot formations
— This paper reports an autonomous cooperative navigation system for robot formations in realistic scenarios. The formation movement control is based on a virtual structure composed by spring-dampers elements, which allows the formation to comply with the environment shape. A different navigation strategy is applied to the leader of the formation and to the rest of robots of the team. The leader plans the trajectories by using a two-level path planner with obstacle avoidance capabilities. The motion of the follower robots is controlled by the virtual structure, which adapts to the environment while the leader is tracked, taking into account the kinodynamic constraints of the vehicles. The system is evaluated in experiments carried out in simulations, some of them made in a realistic and complex urban scenario, and with real robots.
Pablo Urcola, L. Riazuelo, M. T. Lazaro, Luis Mont
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Pablo Urcola, L. Riazuelo, M. T. Lazaro, Luis Montano
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