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Navigation strategies for multiple autonomous mobile robots moving in formationThe problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.
Document ID
19910044496
Acquisition Source
Legacy CDMS
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
April 1, 1991
Publication Information
Publication: Journal of Robotic Systems
Volume: 8
ISSN: 0741-2223
Subject Category
Cybernetics
Accession Number
91A29119
Funding Number(s)
CONTRACT_GRANT: NSF ECS-87-18473
Distribution Limits
Public
Copyright
Other

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