DOI QR코드

DOI QR Code

Hybrid Path Planning of Multi-Robots for Path Deviation Prevention

군집로봇의 경로이탈 방지를 위한 하이브리드 경로계획 기법

  • Wee, Sung-Gil (Department of Electrical Engineering, Yeungnam University) ;
  • Kim, Yoon-Gu (Robotics System Research Division, DGIST) ;
  • Choi, Jung-Won (Department of Robotics, Yeungnam College of Science & Technology) ;
  • Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam University)
  • Received : 2013.02.20
  • Accepted : 2013.03.15
  • Published : 2013.05.01

Abstract

This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, $A^*$ algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. $A^*$ algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.

Keywords

References

  1. M. K. Kim, K. E. Ko, and K. B. Sim, "Behavior learning and evolution of swarm fobot based on harmony search algorithm," KIIS (in Korean), 2010 KIIS Journal, vol. 20, no. 3, pp. 441-446, 2010. https://doi.org/10.5391/JKIIS.2010.20.3.441
  2. S. H. Ji, "Collective intelligence robot techology," The Korean Institute of Electrical Engineers (in Korea), vol. 59, no. 11, pp. 27-31, Nov. 2010.
  3. B. S. Jeon, D. Y. Lee, I. H. Choi, Y. H. Mo, J. M. Park, and M. T. Lim, "Obstacle avoidance method for multi-agent robots using IR sensor and image information," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 12, pp. 1122-1131, Dec. 2012. https://doi.org/10.5302/J.ICROS.2012.18.12.1122
  4. K. M. Jung, S. W. Seo, and K. B. Sim, "Mutual localization of swarm robot using particle filter," KIIS (in Korean), KIIS Journal, vol. 20, no. 2, pp. 298-303, Apr. 2010. https://doi.org/10.5391/JKIIS.2010.20.2.298
  5. S. P. Hou, C. C. Cheah, and J. J. E. Slotine, "Dynamic region following formation control for a swarm of robots," 2009 IEEE International Conference on Robotics and Automation Kobe International Conference Center, pp. 1929-1934, May 2009.
  6. L. Barnes, W. Alvis, M. A. Fields, K. Valavanis, and W. Moreno, "Swarm formation control with potential fields formed by bivariate normal functions," Control and Automation, MED '06. 14th Mediterranean Conference on, pp. 1-7, Jun. 2006.
  7. D. J. Kim and J. S. Choi, "Multi-robot team outdoor localization using active marker and high frequency signal sources," Proc. of 2011 11th International Conference on Control, Automation and Systems, pp. 26-29, Oct. 2011.
  8. D. E. Koditschek and E. Rimon, "Robot navigation functions on manifolds with boundary," Advances in Applied Mathematics, vol. 11, no. 4, pp. 412-442, Dec. 1990. https://doi.org/10.1016/0196-8858(90)90017-S
  9. Y. Chang and Y. Yamamoto, "Path planning of wheeled mobile robot with simultaneous free space locating capability," Intelligent Service Robotics, vol. 2, pp. 9-22, Jan. 2009 https://doi.org/10.1007/s11370-008-0033-4
  10. S. Carpin and L. E. Parker, "Cooperative leader following in a distributed multi-robot system," Proc. of the 2002 IEEE International Conference on Robotics & Automation, pp. 2994-3001, May 2002.
  11. S. H. Kim, G. T. Lee, I. P. Hong, and Y. J. Kim, "New potential functions for multi robot path planning: SWARM or SPREAD," Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on (in Korean), vol. 2, pp. 557-561, Feb. 2010.
  12. Q. Tang, U. Shen, C. Hu, and J. Zeng, "Multi-swarm cooperation optimization for multi-modal functions in repulsive potential field," Advanced Computational Intelligence (IWACI), 2011 Fourth International Workshop on, pp. 70-74, Oct. 2011.
  13. L. Yin and Y. Yin, "An improved potential field method for mobile robot path planning in dynamic environments," Proc. of the 7th World Congress on Intelligent Control and Automation, pp. 4847-4852, Jun. 2008.
  14. B. R. Lee, "Development of potential-function based motion control algorithm for collision avoidance between multiple mobile robots," KSPE (in Korean), vol. 15, no. 6, pp. 107-115, Jun. 1998.
  15. P. E. Hart, N. J. Nilsson, and B. Raphael, "A formal basis for the heuristic determination of minimum cost paths," IEEE Transactions of Systems Science and Cybernetics, vol. ssc-4, no. 2, Jul. 1968.
  16. R. Inam, D. Cederman, and P. Tsigas, "A* algorithm for graphics processors," Third Swedish Workshop on Multi-core Computing-mcc'10, Nov. 2010.
  17. Q. Song and J. D. Han, "An adaptive UKF algorithm for the state and parameter estimations of a mobile robot," Acta Automatica Sinica, vol. 34, no. 1, pp. 72-79, Jan. 2008.
  18. W. Y. Kang, K. J. Kim, and C. G. Park, "Performance analysis of in-flight alignment Using UKF," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 12, no. 11, pp. 1124-1129, Nov. 2006. https://doi.org/10.5302/J.ICROS.2006.12.11.1124
  19. J. H. Lee, K. H. Jung, J. M. Kim, and S. S. Kim, "Sensor fusion of localization using unscented Kalman filter," Journal of Korean Institute of Intelligent Systems (in Korean), vol. 21, no. 5, pp. 667-672, Oct. 2011. https://doi.org/10.5391/JKIIS.2011.21.5.667
  20. C. Suliman, C. Cruceru, and F. Moldoveanu, "Mobile robot position estimation using the Kalman filter," Inter-eng 2009, vol. 6, pp. 75-78, 2009.