Provably correct closed-loop control for multiple mobile robot systems

被引：0
|
作者：
Roszkowska, E [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Engn Cybernet, Wroclaw, Poland
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
Multiple mobile robot system; closed-loop control; collision avoidance; deadlock avoidance;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper introduces and advocates a new approach to the coordination of the motion of multiple mobile robots. In contrast to the current literature solutions, based on the execution of off-line generated plans, this work develops a state-based, closed-loop control mechanism ensuring in a provable manner the correct concurrent robot movement. The concept consists of partitioning the robots' paths into sectors and allowing each robot to move freely within a sector, whereas sector crossing is guarded with a real-time policy that guarantees collision and deadlock avoidance.
引用
收藏
页码：2810 / 2815
页数：6
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