Mobile dynamically reformable formations for efficient flocking behavior in complex environments
作者： Turker Sahin , Erkan Zergeroglu
DOI: 10.1109/ROBOT.2008.4543486
关键词:
摘要: In this work inspired by flocking of birds or fish communities traveling together in the nature, we have developed a novel dynamically reformable mobile formation algorithm for navigation wheeled robot (WMR) groups operating complex and/or obstacle dense environments. The proposed method is formed via combination simple and computationally efficient tools such as (i) network small number WMR sensors detecting obstacles; (ii) cardinal cubic splines least squares fits modeling boundaries based on network; (iii) reference frames to ensure uniform spacing velocity profiles along ensemble. By these components geometrical real time flock path planning relatively large agents. To our best knowledge approach its effectiveness verified simulations
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