TY - GEN
T1 - A bio-inspired autonomous navigation controller for differential mobile robots based on crowd dynamics
AU - Nijmeijer, H.
AU - Rodriguez Angeles, A.
AU - van Kuijk, F.J.M.
PY - 2016
Y1 - 2016
N2 - This article extends ideas from crowd dynamics to a navigation controller for mobile robots. Each mobile robot is considered as an agent, associated to a comfort zone with a certain radius, which creates a repulsive force when this comfort zone is violated by its environment or by another agent, therefore avoiding collisions. Meanwhile, attractive forces drive the agents from their instantaneous position to a goal position. The resulting navigation controller is tested by simulations and experiments. It is found that simulations capture the global dynamic behavior that is shown in experiments, showing robustness of the proposed navigation controller.
AB - This article extends ideas from crowd dynamics to a navigation controller for mobile robots. Each mobile robot is considered as an agent, associated to a comfort zone with a certain radius, which creates a repulsive force when this comfort zone is violated by its environment or by another agent, therefore avoiding collisions. Meanwhile, attractive forces drive the agents from their instantaneous position to a goal position. The resulting navigation controller is tested by simulations and experiments. It is found that simulations capture the global dynamic behavior that is shown in experiments, showing robustness of the proposed navigation controller.
U2 - 10.1007/978-3-319-41009-8_60
DO - 10.1007/978-3-319-41009-8_60
M3 - Conference contribution
T3 - Lecture Notes in Computer Science
SP - 553
EP - 560
BT - Advances in Swarm intelligence
A2 - Tan, Ying
A2 - Shi, Yuhui
PB - Springer
CY - Berlin
T2 - 7th International Conference, ICSI 2016, Bali, Indonesia, June 25-30, 2016
Y2 - 25 June 2016 through 30 June 2016
ER -