A laser-based multi-robot collision avoidance approach in unknown environments
文献类型：期刊论文
| 作者 | Yu, Yingying1,2 ; Wu, Zhiyong1,2; Cao, Zhiqiang1,2; Pang, Lei1,2; Ren, Liang1,2; Zhou, Chao1,2
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2018-02-25 |
| 卷号 | 15期号:1 |
| 关键词 | Laser-based Collision Avoidance Inter-robot Safety Multiple Robots Unknown Environments |
| DOI | 10.1177/1729881418759107 |
| 文献子类 | Article |
| 英文摘要 | As a fundamental problem, collision avoidance for multiple robots still need further investigation, especially for many robots aggregating in a tight space. In this article, a laser-based collision avoidance approach is proposed in complex multi-robot environments. The laser data is analyzed and processed in terms of distance thresholding, safe passageway analysis, obstacles repulsion, goal position attraction, and inter-robot safety. Specifically, the safe passageway analysis is used to remove unsafe directions effectively, and inter-robot safety processing reduces the possibility of being selected for the directions affected by the neighboring robots. On this basis, an optimized decision is made to guarantee that the robots achieve collision-free motions even in crowded environments. The validity of the proposed approach is verified by simulations. |
| WOS关键词 | MODEL ; AGVS |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000426281800001 |
| 资助机构 | National Natural Science Foundation of China(61633017 ; National High Technology Research and Development Program of China (863 Program)(2015AA042201) ; Beijing Natural Science Foundation(4161002) ; Key Research and Development Program of Shandong Province(2017CXGC0925) ; 61633020) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/21970]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Yingying,Wu, Zhiyong,Cao, Zhiqiang,et al. A laser-based multi-robot collision avoidance approach in unknown environments[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1). |
| APA | Yu, Yingying,Wu, Zhiyong,Cao, Zhiqiang,Pang, Lei,Ren, Liang,&Zhou, Chao.(2018).A laser-based multi-robot collision avoidance approach in unknown environments.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1). |
| MLA | Yu, Yingying,et al."A laser-based multi-robot collision avoidance approach in unknown environments".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018). |
入库方式： OAI收割
来源：自动化研究所
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