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http://dx.doi.org/10.5302/J.ICROS.2013.13.9005

Hybrid Path Planning of Multi-Robots for Path Deviation Prevention  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.5, 2013 , pp. 416-422 More about this Journal
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
swarm robots; collision avoidance; repulsive function; $A^*$; path planning; UKF;
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Times Cited By KSCI : 6  (Citation Analysis)
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