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Flocking with obstacle avoidance: A new distributed coordination algorithm based on Voronoi partitions
Swedish Defence Research Agency.
Swedish Defence Research Agency.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2005 (English)In: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4, IEEE , 2005, 1785-1790 p.Conference paper (Refereed)
Abstract [en]

A new distributed coordination algorithm for multi-vehicle systems is presented in this paper. The algorithm combines a particular choice of navigation function with Voronoi partitions. This results not only in obstacle avoidance and motion to the goal, but also in a desirable geographical distribution of the vehicles. Our algorithm is decentralized in that each vehicle needs only to know the position of neighboring vehicles, but no other inter-vehicle communication or centralized control are required. The algorithm gives a natural priority to safety, goal convergence, and formation keeping, in that (1) collision avoidance is guaranteed under all circumstances, (2) the vehicles will move toward the goal as long as a given optimization problem is feasible, and (3) if prior criteria admit, the vehicles tend to a desirable lattice formation. These theoretical properties are discussed in the paper and the performance of the algorithm is illustrated in simulations with realistic models of twenty all-terrain vehicles. Planned experimental evaluation using customized miniature cars is also briefly described.

Place, publisher, year, edition, pages
IEEE , 2005. 1785-1790 p.
Keyword [en]
multi-robot systems; flocking; swarming; obstacle avoidance
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-84735ISI: 000235460101094ScopusID: 2-s2.0-33846179363OAI: diva2:499557
IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, APR 18-22, 2005

© 2005 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120220

Available from: 2012-02-20 Created: 2012-02-13 Last updated: 2013-04-10Bibliographically approved

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