Closed loop navigation for multiple holonomic vehicles
Date Issued
2002
Author(s)
DOI
10.1109/IRDS.2002.1041704
Abstract
We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expression of the robot potential functions guarantees global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulations.