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A Novel Algorithm for the Coordination of Multiple Mobile Robots

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Computer and Information Sciences - ISCIS 2005 (ISCIS 2005)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3733))

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Abstract

The coordinated motion of a group of autonomous mobile robots performing a coordinated task has been of high interest in the last decade. Previous research has shown that one of the main problems in the area is to avoid collisions of the robots with obstacles and other members of the group. In this work, we develop a novel coordination scheme along with a new online collision avoidance algorithm. In the proposed algorithm, reference trajectories for a group of autonomous mobile robots are generated in terms of linear and angular velocities of the robots. Several coordinated tasks have been presented and the results are verified by simulations.

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Author information

Authors and Affiliations

  1. Faculty of Engineering and Natural Sciences, Sabanci University, 34956, Orhanli-Tuzla,Istanbul, Turkey

    Nusrettin Gulec & Mustafa Unel

Authors
  1. Nusrettin Gulec
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  2. Mustafa Unel
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Editor information

Editors and Affiliations

  1. Department of Computer Engineering, Boğaziçi University, 34342, Bebek, Istanbul, Turkey

    pInar Yolum  & Can Özturan  & 

  2. Computer Engineering Department, Boğaziçi University, 34342, Bebek, İstanbul, Turkey

    Tunga Güngör

  3. Computer Engineering Department, Bogazici University, 80815, Bebek, Istanbul, Turkey

    Fikret Gürgen

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© 2005 Springer-Verlag Berlin Heidelberg

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Gulec, N., Unel, M. (2005). A Novel Algorithm for the Coordination of Multiple Mobile Robots. In: Yolum, p., Güngör, T., Gürgen, F., Özturan, C. (eds) Computer and Information Sciences - ISCIS 2005. ISCIS 2005. Lecture Notes in Computer Science, vol 3733. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11569596_45

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  • DOI: https://doi.org/10.1007/11569596_45

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-29414-6

  • Online ISBN: 978-3-540-32085-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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