A force field method based multi-robot collaboration

Liu, DK; Wang, D; Dissanayake, G

A force field method based multi-robot collaboration

Liu, DK

Wang, D Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: 2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006
Issue Date:: 2006-12-01

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Field	Value	Language
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Wang, D	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	2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006	en_US
dc.identifier.isbn	1424400244	en_US
dc.identifier.isbn	9781424400249	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2805
dc.description.abstract	A force field (F2) based multi-robot collaboration method is presented in this paper. In this method, a virtual force field is generated for every moving robot and continuously changing based on the robot status including its traveling speed, dimension, priority, location and environment, 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. In this paper, the definition of reaction force direction is modified to reduce robot orientation oscillations which occur when a robot approaches obstacles or other robots. Then the influence of task priority on motion planning and the problem of deadlock in multi-robot cases are discussed. 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	2006 IEEE Conference on Robotics, Automation and Mechatronics	en_US
dc.relation.isbasedon	10.1109/RAMECH.2006.252693	en_US
dc.title	A force field method based 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	Bangkok, Thailand	en_US
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 force field (F2) based multi-robot collaboration method is presented in this paper. In this method, a virtual force field is generated for every moving robot and continuously changing based on the robot status including its traveling speed, dimension, priority, location and environment, 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. In this paper, the definition of reaction force direction is modified to reduce robot orientation oscillations which occur when a robot approaches obstacles or other robots. Then the influence of task priority on motion planning and the problem of deadlock in multi-robot cases are discussed. Simulations in a real indoor environment were carried out and demonstrated the feasibility and effectiveness of this method. © 2006 IEEE.

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