TITLE:
A Control Strategy for Multi-Robot System Navigating in a Dynamic Environment
AUTHORS:
Ting Wang, Ryad Chellali, Yang Yi, Wen Qin, Mingzhu Wei
KEYWORDS:
A Control Strategy for Multi-Robot System Navigating in a Dynamic Environment
JOURNAL NAME:
Journal of Computer and Communications,
Vol.3 No.11,
November
19,
2015
ABSTRACT: This paper introduces a new control
strategy for heterogeneous multi-robots systems dedicated to industrial logistic
setups. This control strategy is based on both distributed intelligence and machine
learning and involves three parts: the rigid formation controller, the
perception system and the path planner. Our controller is event-based and thus
its control-coordination strategy can be self-adaptive and applied to real
dynamic environment. During the navigating process, the multi-robots system derives
the environment model, performs the path planning process that guaranties both
the transportation constraints and the obstacle avoidance. For the validation,
both simulation and real robot experiments are performed. The results show that
the developed control strategy can be well used for realistic logistics
applications.