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Petri Net Based Navigation Planning with Dipole Field and Dynamic Window Approach for Collision Avoidance
Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.ORCID-id: 0000-0002-5832-5452
Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.ORCID-id: 0000-0002-5224-8302
2019 (engelsk)Inngår i: International Conference on Control, Decision and Information Technologies CoDIT, 2019, s. 1013-1018, artikkel-id 8820359Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper presents a novel path planning system for multiple robots working in an uncontrolled environment in the presence of humans. The approach combines the use of Petri net to plan the movement of multiple robots to prevent the risk of congestion caused by routing several robots into a narrow region, together with a dipole field with dynamic window approach to avoid collisions of a robot with dynamic obstacles. By regarding the velocity and direction of both humans and robots as a source of magnetic dipole moment, the dipole-dipole interaction between the moving objects will generate repulsive forces to prevent collisions. The whole system is presented on robot operating system platform so that its implementation can be extendable into real robots. Experimental results with Gazebo simulator demonstrates the effectiveness of the proposed approach.

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2019. s. 1013-1018, artikkel-id 8820359
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Identifikatorer
URN: urn:nbn:se:mdh:diva-43926DOI: 10.1109/CoDIT.2019.8820359Scopus ID: 2-s2.0-85072839041ISBN: 9781728105215 (tryckt)OAI: oai:DiVA.org:mdh-43926DiVA, id: diva2:1327393
Konferanse
International Conference on Control, Decision and Information Technologies CoDIT, 23 Apr 2019, Paris, France
Prosjekter
DPAC - Dependable Platforms for Autonomous systems and ControlTilgjengelig fra: 2019-06-19 Laget: 2019-06-19 Sist oppdatert: 2019-10-17bibliografisk kontrollert

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Trinh, Lan AnhEkström, MikaelCuruklu, Baran

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