Implementation studies of robot swarm navigation using potential functions and panel methods

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dc.contributor.authorMerheb, Abdel-Razzak
dc.contributor.authorGazi, Veysel
dc.contributor.authorSezer-Uzol, Nilay
dc.date.accessioned2021-05-15T12:36:59Z
dc.date.available2021-05-15T12:36:59Z
dc.date.issued2016
dc.departmentMühendislik ve Doğa Bilimleri Fakültesi, Elektrik - Elektronik Mühendisliği Bölümüen_US
dc.descriptionGazi, Veysel/0000-0002-4383-9215;
dc.description.abstractThis paper presents a practical swarm navigation algorithm based on potential functions and properties of inviscid incompressible flows. Panel methods are used to solve the flow equations around complex shaped obstacles and to generate the flowlines, which provide collision-free paths to the goal position. Safe swarm navigation is achieved by following the generated streamlines. Potential functions are used to achieve and maintain group cohesion or a geometric formation during navigation. The algorithm is implemented and tested through numerical simulations, as well as experimental implementations on real robots in a laboratory environment in two settings, in which the flowlines are calculated either offline or in real time. The algorithm is easy to implement and can serve as an effective tool for cohesive navigation of robotic swarms.en_US
dc.description.sponsorshipEuropean CommissionEuropean CommissionEuropean Commission Joint Research Centre [045269]en_US
dc.description.sponsorshipThis work was supported by the European Commission under the GUARDIANS Project (FP6 Contract 045269).en_US
dc.identifier.doi10.1109/TMECH.2016.2580303
dc.identifier.endpage2567en_US
dc.identifier.issn1083-4435
dc.identifier.issn1941-014X
dc.identifier.issue5en_US
dc.identifier.scopus2-s2.0-84983483112
dc.identifier.scopusqualityQ1
dc.identifier.startpage2556en_US
dc.identifier.urihttps://doi.org/10.1109/TMECH.2016.2580303
dc.identifier.urihttps://hdl.handle.net/20.500.12939/452
dc.identifier.volume21en_US
dc.identifier.wosWOS:000382472600031
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorGazi, Veysel
dc.language.isoen
dc.publisherIeee-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIeee-Asme Transactions on Mechatronics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAutonomous Navigationen_US
dc.subjectCohesive Motionen_US
dc.subjectFlow/Stream Functionsen_US
dc.subjectFormation Controlen_US
dc.subjectMultiagent Dynamic Systemsen_US
dc.subjectPanel Methodsen_US
dc.subjectPotential Functionsen_US
dc.subjectRobot Swarmen_US
dc.titleImplementation studies of robot swarm navigation using potential functions and panel methods
dc.typeArticle

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Elektrik - Elektronik Mühendisliği Bölümü Koleksiyonu
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