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Title: Implementation of Robot Formation Control and Navigation Using Real-Time Panel Method
Authors: Merheb, Abdel-Razzak
Ataş, Yunus
Gazi, Veysel
Uzol, Nilay Sezer
Keywords: [No Keywords]
Issue Date: 2010
Publisher: IEEE
Source: IEEE/RSJ International Conference on Intelligent Robots and Systems -- OCT 18-22, 2010 -- Taipei, TAIWAN
Series/Report no.: IEEE International Conference on Intelligent Robots and Systems
Abstract: In this paper, potential flow calculations for incompressible inviscid flows are used to develop a collision free navigation algorithm for a robot swarm. Robots are equiped with laser scanners which are used to detect the obstacles in the environment. Then, a real-time panel method is used to calculate the streamlines of the potential flow around the complex shaped rigid objects, providing the robots with safe trajectories to the target. The swarm of robots is also forced to keep a desired formation during navigation using potential functions. Potential flow algorithms provide navigation with smooth paths to the target. The algorithm can be used in dynamic environments in real-time as the changes in the medium are detected.
ISBN: 978-1-4244-6675-7
ISSN: 2153-0858
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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