Bio-inspired decentralized autonomous robot mobile navigation control for multi agent systems
Alejandro Rodriguez-Angeles, Luis-Fernando Vazquez Chavez (2018)
Kybernetika
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This article proposes a decentralized navigation controller for a group of differential mobile robots that yields autonomous navigation, which allows reaching a certain desired position with a specific desired orientation, while avoiding collisions with dynamic and static obstacles. The navigation controller is constituted by two control loops, the so-called external control loop is based on crowd dynamics, it brings autonomous navigation properties to the system, the internal control...