Swarm navigation in a complex environment

Raj, Jai and Vanualailai, Jito and Sharma, Bibhya N. and Singh, Shonal (2012) Swarm navigation in a complex environment. [Conference Proceedings]

Preview

PDF - Published Version Download (657kB) | Preview

Abstract

This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm of boids exhibiting collective emergent behaviors. A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws are demonstrated via computer simulations of an emergent behavior.

Item Type:	Conference Proceedings
Subjects:	Q Science > QA Mathematics
Divisions:	Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Generic Account
Date Deposited:	17 May 2013 02:45
Last Modified:	16 Jan 2017 02:13
URI:	http://repository.usp.ac.fj/id/eprint/5844

UNSPECIFIED

Actions (login required)

View Item