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Path planning of multiple mobile robots in a dynamic 3D environment

Raj, Jai and Raghuwaiya, Krishna and Vanualailai, Jito and Sharma, Bibhya N. (2020) Path planning of multiple mobile robots in a dynamic 3D environment. In: Advances in Computer, Communication and Computational Sciences. Advances in Intelligent Systems and Computing. Springer Nature, Singapore, pp. 209-219. ISBN 978-981-15-4408-8

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In this paper, we present a theoretical exposition into the application of an artificial potential field method, that is, the Lyapunov-based control scheme. A motion planner of mobile robots navigating in a dynamic environment is proposed. The dynamic environment includes multiple mobile robots, fixed spherical and cylindrical-shaped obstacles. The motion planner exploits the minimum distance technique for the avoidance of the cylindrical obstacles. The mobile robots navigate in a bounded environment, avoiding all the obstacles and each other whilst enroute to its target. The effectiveness of the suggested nonlinear velocity governing laws is verified by a computer simulation which proves the efficiency and robustness of the control technique.

Item Type: Book Chapter
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Arts, Law and Education (FALE) > School of Education
Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Shalni Sanjana
Date Deposited: 22 Dec 2020 02:32
Last Modified: 22 Dec 2020 02:32

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