A Standardized Testing-Ground for Artificial Potential-Field based Motion Planning for Robot Collectives
نویسندگان
چکیده
In this paper, we examine and evaluate artificial-potential field approaches for motion planning of robot collectives with formation-maintenance requirements. To this end, we demonstrate the practical use of construction of the Navigation Function (NF) to serve as the “standardized testing-ground.” The NF allows a designer to merge multiple local limited-range potential-functions uniformly into a well-behaved “potential space”without creating multiple local-minima or irregular scaling at the obstacles. A MATLAB based Graphical User Interface (GUI) is created to aid the interactive creation of the “potential-space” for user-defined workspaces. Within this common test-ground, one is then able to systematically compare and evaluate the performance of various formation maintenance algorithms for robot collectives. In particular, we evaluate the performance of artificial-potential based formation-maintenance algorithms for wheeled mobile robot collectives with 3and 10-members.
منابع مشابه
Performance Evaluation of Potential Field based Distributed Motion Planning Methods for Robot Collectives
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تاریخ انتشار 2006