Artificial Intelligence Methods in Reactive Navigation of Mobile Robots Formation

Zenon Hendzel, Marcin Szuster, Andrzej Burghardt

2012

Abstract

The article presents a hierarchical control system build using artificial intelligence methods, that generates a trajectory of the wheeled mobile robots formation, and realises the tracking control task of all agents. The hierarchical control system consists of a navigator, based on a conception of behavioural control signals coordination, and individual tracking control systems for all mobile robots in the formation. The navigator realises a sensor-based approach to the path planning process in the unknown 2-D environment with static obstacles. The navigator presents a new approach to the behavioural control, where one Neural dynamic programming algorithm generates the control signal for the complex behaviour, which is a composition of two individual behaviours: “goal-seeking”and “obstacle avoiding”. Influence of individual behaviours on the navigator control signal depends on the environment conditions and changes fluently. On the basis of control signal generated by the navigator are computed the desired collision-free trajectories for all robots in formation, realised by the tracking control systems. Realisation of generated trajectories guarantees reaching the goal by selected point of the robots formation with obstacles avoiding by all agents. Computer simulations have been conducted to illustrate the process of path planning in the different environment conditions.

Paper Citation

in Harvard Style

Hendzel Z., Szuster M. and Burghardt A. (2012). Artificial Intelligence Methods in Reactive Navigation of Mobile Robots Formation . In Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: NCTA, (IJCCI 2012) ISBN 978-989-8565-33-4, pages 466-473. DOI: 10.5220/0004113404660473

in Bibtex Style

@conference{ncta12,
author={Zenon Hendzel and Marcin Szuster and Andrzej Burghardt},
title={Artificial Intelligence Methods in Reactive Navigation of Mobile Robots Formation},
booktitle={Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: NCTA, (IJCCI 2012)},
year={2012},
pages={466-473},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004113404660473},
isbn={978-989-8565-33-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: NCTA, (IJCCI 2012)
TI - Artificial Intelligence Methods in Reactive Navigation of Mobile Robots Formation
SN - 978-989-8565-33-4
AU - Hendzel Z.
AU - Szuster M.
AU - Burghardt A.
PY - 2012
SP - 466
EP - 473
DO - 10.5220/0004113404660473