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Obstacle avoidance via social mediation in cooperative payload transportation

Singh, Ronal R. and Lal, Sunil P. and Vanualailai, Jito (2013) Obstacle avoidance via social mediation in cooperative payload transportation. [Conference Proceedings]

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    Abstract

    This paper presents a negotiation-based obstacle avoidance scheme for teams involved in cooperative load transportation. A decentralised behaviour-based cooperative control coordinates the team’s motion. The negotiation protocol is implemented as one of the behaviours within the control scheme, and utilizes explicit and local communication. We tested the cooperative control in simulation and show that the cooperative control is successful as well as scalable and robust. We also demonstrate the strength of the fuzzy logic based motion controllers in mitigating the effects of approximate team heading.

    Item Type: Conference Proceedings
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Ms Shalni Sanjana
    Date Deposited: 19 Apr 2013 10:29
    Last Modified: 14 Jul 2016 15:51
    URI: http://repository.usp.ac.fj/id/eprint/5663
    UNSPECIFIED

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