This study proposes an algorithm for the passage of a mobile robot group through a narrow space. We deal with a robot group composed of one leader and multiple unlabeled followers. A steady formation is realized by generating a Delaunay diagram using the profiles of surrounding robots. Further, we resolved a deadlock situation by using the phase gap of nonlinear oscillators to which the profiles of the surrounding obstacles are provided as inputs. We implement the proposed system in a real multi-robot system in order to demonstrate its effectiveness.
In this paper , we propose a passage algorithm t, hrough a narrow space ' for Autonomous Mobile Robots. We form 乱 steady formation by makillg De 弖 aullay − Diagram using profiles of surrounding robots . And We reSOlve deadlOCk by USing the phaSe ga . p Of NOnlinear OSCillatOrS that illput profiles (〕 f SUrrOUnding obstacles . 、 Ve verificd the eff ' ec : tivelles . s of the proP く) sing system by simulatioils and experimellts . Keywords
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