论文标题
使用动态涡流电位字段在移动机器人中避免合作碰撞
Cooperative Collision Avoidance in Mobile Robots using Dynamic Vortex Potential Fields
论文作者
论文摘要
在本文中，考虑到2-D平面中以恒定线性速度移动的非全面机器人的碰撞避免问题。避免碰撞的操作是使用动态涡流电位（PFS）及其负梯度设计的；这种表述导致机器人之间的相互行为，表示为合作。排斥场是作为机器人相对于另一个机器人的速度和位置的函数选择的，并以其定义引入涡度可确保没有局部最小值。仅当机器人与其他移动机器人或固定障碍物发生碰撞路径时，这种排斥场才会被机器人激活。通过分析极性坐标中基于运动学的参与动力学，可以表明合作机器人能够避免与非合作的机器人（例如固定和恒定速度机器人）以及那些积极寻求与之碰撞的机器人的碰撞。确定PF参数的条件，以确保所有情况下避免碰撞。使用移动机器人平台获得的实验结果支持理论贡献。
In this paper, the collision avoidance problem for non-holonomic robots moving at constant linear speeds in the 2-D plane is considered. The maneuvers to avoid collisions are designed using dynamic vortex potential fields (PFs) and their negative gradients; this formulation leads to a reciprocal behaviour between the robots, denoted as being cooperative. The repulsive field is selected as a function of the velocity and position of a robot relative to another and introducing vorticity in its definition guarantees the absence of local minima. Such a repulsive field is activated by a robot only when it is on a collision path with other mobile robots or stationary obstacles. By analysing the kinematics-based engagement dynamics in polar coordinates, it is shown that a cooperative robot is able to avoid collisions with non-cooperating robots, such as stationary and constant velocity robots, as well as those actively seeking to collide with it. Conditions on the PF parameters are identified that ensure collision avoidance for all cases. Experimental results acquired using a mobile robot platform support the theoretical contributions.
