Landmarks as Navigation-Aids for Multiple Robots

摘要

The paper presents selected landmarks as navigation-aids or waypoints for multiple car-like robots in a contained workspace cluttered with randomly fixed obstacles and landmarks. A new metrics is designed to select specific landmarks (which are treated as waypoints) falling in the robots’ field of view and with a minimum distance away from each other and their targets. A new metric is also defined to obtain the robot’s field of view at every iteration. Using the Lyapunov-based control scheme (LbCS) nonlinear acceleration-based stabilizing control laws are derived for navigation amongst obstacles and landmarks en route the final destination via selected landmarks or waypoints. The proposed technique and the new control laws are verified via interesting computer simulations.