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Composite Local Path Planning for Multi-Robot Obstacle Avoidance and Formation Navigation

Journal: Advances in Computer Science : an International Journal(ACSIJ) (Vol.4, No. 5)

Publication Date:

Authors : ; ; ; ; ;

Page : 61-68

Keywords : Collision-free; Composite local path planning; Path deviation prevention; Path re-planning;

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Abstract

This paper proposes a composite local path planning method for multi-robot formation navigation with path deviation prevention using a repulsive function, A-star algorithm, and unscented Kalman filter (UKF). The repulsive function in the potential field m

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Last modified: 2015-10-08 21:45:18