Obstacle avoidance of robotic formations based on fluid mechanical modeling

摘要: This paper is on obstacle avoidance of swarms robots moving in certain geometric planar formations. Focus given to a particular approach, which based the fluid mechanical principle known as Circle Theorem. Considering motion region fictitious environment surrounding obstacles, streamlines are calculated correspond unique smooth paths that robot or robotic formation can follow without colliding with obstacles. The design and analysis initially performed assuming simple integrator dynamics for each agent, later extended more realistic non-holonomic unicycle dynamic agent models, help proportional integral (PI) control. designs developed avoiding control agents, prescribed rigid novel, successfully tested via an extensive set simulations. Application unmanned aerial vehicle (UAV) formations under constraint constant speed also presented.