Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents
We develop a set of novel autonomous controllers for multiple point-mass robots or agents in the presence of wall-like rectangular planes in three-dimensional space. To the authors’ knowledge, this is the first time that such a set of controllers for the avoidance of rectangular planes has been deri...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
|
| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2020/4723687 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850211600672227328 |
|---|---|
| author | Jai Raj Krishna Raghuwaiya Jito Vanualailai |
| author_facet | Jai Raj Krishna Raghuwaiya Jito Vanualailai |
| author_sort | Jai Raj |
| collection | DOAJ |
| description | We develop a set of novel autonomous controllers for multiple point-mass robots or agents in the presence of wall-like rectangular planes in three-dimensional space. To the authors’ knowledge, this is the first time that such a set of controllers for the avoidance of rectangular planes has been derived from a single attractive and repulsive potential function that satisfies the conditions of the Direct Method of Lyapunov. The potential or Lyapunov function also proves the stability of the system of the first-order ordinary differential equations governing the motion of the multiple agents as they traverse the three-dimensional space from an initial position to a target that is the equilibrium point of the system. The avoidance of the walls is via an approach called the Minimum Distance Technique that enables a point-mass agent to avoid the wall from the shortest distance away at every unit time. Computer simulations of the proposed Lyapunov-based controllers for the multiple point-mass agents navigating in a common workspace are presented to illustrate the effectiveness of the controllers. Simulations include towers and walls of tunnels as obstacles. In the simulations, the point-mass agents also show typical swarming behaviors such as split-and-rejoin maneuvers when confronted with multiple tower-like structures. The successful illustration of the effectiveness of the controllers opens a fertile area of research in the development and implementation of such controllers for Unmanned Aerial Vehicles such as quadrotors. |
| format | Article |
| id | doaj-art-882f0eb1e80041ccb0bc339b2d8ab103 |
| institution | OA Journals |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-882f0eb1e80041ccb0bc339b2d8ab1032025-08-20T02:09:31ZengWileyJournal of Advanced Transportation0197-67292042-31952020-01-01202010.1155/2020/47236874723687Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous AgentsJai Raj0Krishna Raghuwaiya1Jito Vanualailai2School of Computing Information & Mathematical Sciences, The University of the South Pacific, Suva, FijiSchool of Education, The University of the South Pacific, Suva, FijiSchool of Computing Information & Mathematical Sciences, The University of the South Pacific, Suva, FijiWe develop a set of novel autonomous controllers for multiple point-mass robots or agents in the presence of wall-like rectangular planes in three-dimensional space. To the authors’ knowledge, this is the first time that such a set of controllers for the avoidance of rectangular planes has been derived from a single attractive and repulsive potential function that satisfies the conditions of the Direct Method of Lyapunov. The potential or Lyapunov function also proves the stability of the system of the first-order ordinary differential equations governing the motion of the multiple agents as they traverse the three-dimensional space from an initial position to a target that is the equilibrium point of the system. The avoidance of the walls is via an approach called the Minimum Distance Technique that enables a point-mass agent to avoid the wall from the shortest distance away at every unit time. Computer simulations of the proposed Lyapunov-based controllers for the multiple point-mass agents navigating in a common workspace are presented to illustrate the effectiveness of the controllers. Simulations include towers and walls of tunnels as obstacles. In the simulations, the point-mass agents also show typical swarming behaviors such as split-and-rejoin maneuvers when confronted with multiple tower-like structures. The successful illustration of the effectiveness of the controllers opens a fertile area of research in the development and implementation of such controllers for Unmanned Aerial Vehicles such as quadrotors.http://dx.doi.org/10.1155/2020/4723687 |
| spellingShingle | Jai Raj Krishna Raghuwaiya Jito Vanualailai Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents Journal of Advanced Transportation |
| title | Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents |
| title_full | Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents |
| title_fullStr | Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents |
| title_full_unstemmed | Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents |
| title_short | Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents |
| title_sort | collision avoidance of 3d rectangular planes by multiple cooperating autonomous agents |
| url | http://dx.doi.org/10.1155/2020/4723687 |
| work_keys_str_mv | AT jairaj collisionavoidanceof3drectangularplanesbymultiplecooperatingautonomousagents AT krishnaraghuwaiya collisionavoidanceof3drectangularplanesbymultiplecooperatingautonomousagents AT jitovanualailai collisionavoidanceof3drectangularplanesbymultiplecooperatingautonomousagents |