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Implementation Studies of Robot Swarm Navigation Using Potential Functions and Panel Methods
Date
2016-10-01
Author
Merheb, Abdel-Razzak
GAZİ, VEYSEL
Sezer Uzol, Nilay
Metadata
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This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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This paper presents a practical swarm navigation algorithm based on potential functions and properties of inviscid incompressible flows. Panel methods are used to solve the flow equations around complex shaped obstacles and to generate the flowlines, which provide collision-free paths to the goal position. Safe swarm navigation is achieved by following the generated streamlines. Potential functions are used to achieve and maintain group cohesion or a geometric formation during navigation. The algorithm is implemented and tested through numerical simulations, as well as experimental implementations on real robots in a laboratory environment in two settings, in which the flowlines are calculated either offline or in real time. The algorithm is easy to implement and can serve as an effective tool for cohesive navigation of robotic swarms.
Subject Keywords
Autonomous Navigation
,
Cohesive Motion
,
Flow/Stream Functions
,
Formation Control
,
Multiagent Dynamic Systems
,
Panel Methods
,
Potential Functions
,
Robot Swarm
URI
https://hdl.handle.net/11511/42310
Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
DOI
https://doi.org/10.1109/tmech.2016.2580303
Collections
Department of Aerospace Engineering, Article
Citation Formats
IEEE
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BibTeX
A.-R. Merheb, V. GAZİ, and N. Sezer Uzol, “Implementation Studies of Robot Swarm Navigation Using Potential Functions and Panel Methods,”
IEEE-ASME TRANSACTIONS ON MECHATRONICS
, vol. 21, no. 5, pp. 2556–2567, 2016, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/42310.