Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents
Joint Authors
Vanualailai, Jito
Raj, Jai
Raghuwaiya, Krishna
Source
Journal of Advanced Transportation
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-28
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
We develop a set of novel autonomous controllers for multiple point-mass robots or agents in the presence of wall-like rectangular planes in three-dimensional space.
To the authors’ knowledge, this is the first time that such a set of controllers for the avoidance of rectangular planes has been derived from a single attractive and repulsive potential function that satisfies the conditions of the Direct Method of Lyapunov.
The potential or Lyapunov function also proves the stability of the system of the first-order ordinary differential equations governing the motion of the multiple agents as they traverse the three-dimensional space from an initial position to a target that is the equilibrium point of the system.
The avoidance of the walls is via an approach called the Minimum Distance Technique that enables a point-mass agent to avoid the wall from the shortest distance away at every unit time.
Computer simulations of the proposed Lyapunov-based controllers for the multiple point-mass agents navigating in a common workspace are presented to illustrate the effectiveness of the controllers.
Simulations include towers and walls of tunnels as obstacles.
In the simulations, the point-mass agents also show typical swarming behaviors such as split-and-rejoin maneuvers when confronted with multiple tower-like structures.
The successful illustration of the effectiveness of the controllers opens a fertile area of research in the development and implementation of such controllers for Unmanned Aerial Vehicles such as quadrotors.
American Psychological Association (APA)
Raj, Jai& Raghuwaiya, Krishna& Vanualailai, Jito. 2020. Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents. Journal of Advanced Transportation،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1175659
Modern Language Association (MLA)
Raj, Jai…[et al.]. Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents. Journal of Advanced Transportation No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1175659
American Medical Association (AMA)
Raj, Jai& Raghuwaiya, Krishna& Vanualailai, Jito. Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents. Journal of Advanced Transportation. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1175659
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1175659