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Obstacle avoidance of robotic formations based on fluid mechanical modeling

Shames, Iman; Fidan, Baris; Soukieh, Rabie

Description

This paper is on obstacle avoidance of swarms of robots moving in certain geometric planar formations. Focus is given to a particular obstacle avoidance approach, which is based on the fluid mechanical principle known as the Circle Theorem. Considering the motion region as a fictitious fluid environment surrounding the obstacles, fluid streamlines are calculated which correspond to unique smooth paths that a robot or a robotic formation can follow without colliding with the obstacles. The...[Show more]

dc.contributor.authorShames, Iman
dc.contributor.authorFidan, Baris
dc.contributor.authorSoukieh, Rabie
dc.coverage.spatialTBC
dc.date.accessioned2015-12-10T23:26:45Z
dc.date.available2015-12-10T23:26:45Z
dc.date.createdAugust 23-26 2009
dc.identifier.isbn9783952417393
dc.identifier.urihttp://hdl.handle.net/1885/67906
dc.description.abstractThis paper is on obstacle avoidance of swarms of robots moving in certain geometric planar formations. Focus is given to a particular obstacle avoidance approach, which is based on the fluid mechanical principle known as the Circle Theorem. Considering the motion region as a fictitious fluid environment surrounding the obstacles, fluid streamlines are calculated which correspond to unique smooth paths that a robot or a robotic formation can follow without colliding with the obstacles. The design and analysis are initially performed assuming simple integrator dynamics for each agent, and later extended for more realistic non-holonomic unicycle dynamic agent models, with the help of proportional integral (PI) control. The fluid dynamics based designs developed for obstacle avoiding motion control of agents, moving in a prescribed rigid formation are novel, and successfully tested via an extensive set of simulations. Application of the developed designs for motion control of unmanned aerial vehicle (UAV) formations under the constraint of constant speed is also presented.
dc.publisherConference Organising Committee
dc.relation.ispartofseries2009 10th European Control Conference, ECC 2009
dc.source2009 European Control Conference, ECC 2009
dc.titleObstacle avoidance of robotic formations based on fluid mechanical modeling
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2009
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absfor091299 - Materials Engineering not elsewhere classified
local.identifier.ariespublicationa383154xPUB1560
local.type.statusPublished Version
local.contributor.affiliationShames, Iman, College of Engineering and Computer Science, ANU
local.contributor.affiliationFidan, Baris, College of Engineering and Computer Science, ANU
local.contributor.affiliationSoukieh, Rabie, College of Engineering and Computer Science, ANU
local.bibliographicCitation.startpage3263
local.bibliographicCitation.lastpage3268
dc.date.updated2015-12-10T11:02:18Z
local.identifier.scopusID2-s2.0-84928178193
CollectionsANU Research Publications

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