Experimental Study Of Robot Formation Control And Navigation Using Potential Functions And Panel Method
Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany
Proceedings: ISR/ROBOTIK 2010
Pages: 8Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Merheb, Abdel-Razzak; Gazi, Veysel (Department of Electrical and Electronics Engineering, TOBB University of Economics and Technology, Sogutozu Cad. No. 43, 06560, Ankara, Turkey)
Sezer-Uzol, Nilay (Department of Mechanical Engineering, TOBB University of Economics and Technology, Sogutozu Cad. No. 43, 06560, Ankara, Turkey)
In this paper an implementation of a collision free navigation algorithm for robot swarm based on the panel method is discussed. The well known panel method is used to solve the governing equations for inviscid incompressible potential flow around rigid objects with tangency boundary conditions, providing the robots with safe trajectories to the target. In addition, artificial potential functions are used to force the swarm to achieve a predefined geometrical shape. Experimental results are obtained using e-puck mini-robots navigating in an environment with complex shaped obstacles.