A Bio-inspired Autonomous Navigation Controller for Differential Mobile Robots Based on Crowd Dynamics

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• 关键词：Crowd dynamics ; Behavior ; Mobile robot ; Obstacle avoidance ; Navigation
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9713
• 期：1
• 页码：553-560
• 全文大小：454 KB
• 参考文献：1.Vicsek, T., Czirók, A., Ben-Jacob, E., Cohen, I., Shochet, O.: Novel type of phase transition in a system of self-driven particles. Phys. Rev. Lett. 75(6), 1226–1229 (1995)MathSciNet CrossRef
  2.Kostic, D., Adinandra, S., van de Caarls, J., Wouw, N., Nijmeijer, H.: Collision-free tracking control of unicycle mobile robots. In: Proceedings of the 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (CDC/CCC), pp. 5667–5672 (2009)
  3.Dai, Y., Lee, S.G.: Formation control of mobile robots with obstacle avoidance based on GOACM using onboard sensors. Int. J. Control Autom. Syst. 12(5), 1077–1089 (2014)CrossRef
  4.Helbing, D., Buzna, L., Johansson, A., Werner, T.: Self-organized pedestrian crowd dynamics: experiments, simulations, and design solutions. Transp. Sci. 39(1), 1–24 (2005). doi:10.​1287/​trsc.​1040.​0108 CrossRef
  5.Helbing, D., Farkas, I., Vicsek, T.: Simulating dynamical features of escape panic. Nature 407, 487–490 (2000)CrossRef
  6.Xuesong, C., Yimin, Y., Shuting, C., Jianping, C.: Modeling and analysis of multi-agent coordination using nearest neighbor rules. In: 2009 International Asia Conference on Informatics in Control, Automation and Robotics (2009)
  7. http://​www.​e-puck.​org/​
  
• 作者单位：Alejandro Rodriguez-Angeles (16) (17)
  Henk Nijmeijer (17)
  Fransis J. M. van Kuijk (17)
  
  16. Mechatronics Section, Electrical Engineering Department, Cinvestav-IPN, Mexico City, Mexico
  17. Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands
  
• 丛书名：Advances in Swarm Intelligence
• ISBN：978-3-319-41009-8
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9713

文摘

This article extends ideas from crowd dynamics to a navigation controller for mobile robots. Each mobile robot is considered as an agent, associated to a comfort zone with a certain radius, which creates a repulsive force when this comfort zone is violated by its environment or by another agent, therefore avoiding collisions. Meanwhile, attractive forces drive the agents from their instantaneous position to a goal position. The resulting navigation controller is tested by simulations and experiments. It is found that simulations capture the global dynamic behavior that is shown in experiments, showing robustness of the proposed navigation controller.