Motion Control in Dynamic Multi-Robot Environments
- Michael Bowling, University of Alberta
- Manuela Veloso
All mobile robots require some form of motion control in or- der to exhibit interesting autonomous behaviors. This is even more essen- tial formulti-robot, highly-dynamic environments, such as robotic soccer. This paper presents the motion control system used by CMUnited-98, the small-size league champion at RoboCup-98. The team consists of ve robots that aim at achieving speci c goals while navigating in a limited space shared with the ve other opponent robots. We introduce our motion control algorithm, which allows a general di erential-driven robot to accurately reach a target point with a desired orientation in an environment with multiple moving obstacles. We describe how the features of our motion controller help to build interesting and robust behaviors. We also brie y compare our system to other motion control techniques and include descriptions and illustrations of the performance of our fully-implemented motion control algorithm.
Citation
M. Bowling, M. Veloso. "Motion Control in Dynamic Multi-Robot Environments". IEEE, pp 168-173, November 1999.| Keywords: | |
| Category: | In Conference |
BibTeX
@incollection{Bowling+Veloso:IEEE99,
author = {Michael Bowling and Manuela Veloso},
title = {Motion Control in Dynamic Multi-Robot Environments},
Pages = {168-173},
booktitle = {},
year = 1999,
}Last Updated: March 09, 2007Submitted by AICML Admin Assistant
