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Interaction dynamics of multiple mobile robots with simple navigation strategiesThe global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.
Document ID
19890039054
Document Type
Reprint (Version printed in journal)
Authors
Wang, P. K. C. (California, University Los Angeles, United States)
Date Acquired
August 14, 2013
Publication Date
February 1, 1989
Publication Information
Publication: Journal of Robotic Systems
Volume: 6
ISSN: 0741-2223
Subject Category
CYBERNETICS
Funding Number(s)
CONTRACT_GRANT: NSF ECS-87-18473
Distribution Limits
Public
Copyright
Other