A variable speed force field method for multi-robot collaboration

Wang, D; Liu, D; Dissanayake, G

A variable speed force field method for multi-robot collaboration

Wang, D Liu, D

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2006, pp. 2697 - 2702
Issue Date:: 2006-12-01

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Field	Value	Language
dc.contributor.author	Wang, D	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2006-12-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2006, pp. 2697 - 2702	en_US
dc.identifier.isbn	142440259X	en_US
dc.identifier.isbn	9781424402595	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2689
dc.description.abstract	A novel Force Field (F2) method with variable speed for multi-robot motion planning and collaboration is presented in this paper. The basic concept of the F2 method is to generate a force field for every robot based on and continuously changing according to its status including traveling speed, dimension, priority, location and environmental factor, etc. The interactions among robots' force fields and obstacles provide a natural way for collision avoidance and collaboration while robots are on their way to goals. Previous F2 method assumes that robots travel with constant speeds and can react instantly to the resultant force to change their orientations. Starting from a problematic situation brought out by this hypothesis, this paper remedies the F2 method by taking robots' dynamics and kinematics characteristics into consideration. In the Variable Speed Force Field method (VSF2), a robot can change its own speed according to environment information and its own status. Simulations in a real indoor environment were carried out and demonstrated the feasibility and effectiveness of this method. © 2006 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2006.281992	en_US
dc.title	A variable speed force field method for multi-robot collaboration	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
dc.location.activity	Beijing, China	en_US
dc.location.activity	Las Vegas, USA
dc.location.activity	Beijing, PEOPLES R CHINA
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

A novel Force Field (F2) method with variable speed for multi-robot motion planning and collaboration is presented in this paper. The basic concept of the F2 method is to generate a force field for every robot based on and continuously changing according to its status including traveling speed, dimension, priority, location and environmental factor, etc. The interactions among robots' force fields and obstacles provide a natural way for collision avoidance and collaboration while robots are on their way to goals. Previous F2 method assumes that robots travel with constant speeds and can react instantly to the resultant force to change their orientations. Starting from a problematic situation brought out by this hypothesis, this paper remedies the F2 method by taking robots' dynamics and kinematics characteristics into consideration. In the Variable Speed Force Field method (VSF2), a robot can change its own speed according to environment information and its own status. Simulations in a real indoor environment were carried out and demonstrated the feasibility and effectiveness of this method. © 2006 IEEE.

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http://hdl.handle.net/10453/2689