A hybrid navigation strategy for multiple mobile robots

  • Authors:

  • Yi Zhu;Tao Zhang;Jingyan Song;Xiaqin Li

  • Affiliations:

  • Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 100084, China and Division of Control Science and Engineering, Tsinghua National Laboratory for ...;Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 100084, China and Division of Control Science and Engineering, Tsinghua National Laboratory for ...;Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 100084, China and Division of Control Science and Engineering, Tsinghua National Laboratory for ...;Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 100084, China and Division of Control Science and Engineering, Tsinghua National Laboratory for ...

  • Venue:
  • Robotics and Computer-Integrated Manufacturing
  • Year:
  • 2013

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Abstract

A hybrid navigation strategy is proposed in this paper for solving the navigation problem of multiple mobile robots. The proposed strategy integrates three algorithms that represent three different types of existing methods in a layered system. The bottom-up architecture of this system is the main contribution of this paper. This architecture pursues reliable low-level layers that can independently work in as much cases as possible, and the high-level layer is used only when it is necessary for guaranteeing convergence in complex situations. The simulation results show that the proposed strategy has well combined the algorithms of different types from the perspective of pursuing reactivity in the premise of ensuring convergence. Compared with the traditional top-down hybrid architecture, the bottom-up architecture proposed in this paper is more suitable for multi-robot navigation since it can better utilize the advantages of different algorithms to deal with different situations. The experiments on real robots have further verified the applicability of the proposed strategy.