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Duration of collision-free motion of unmanned vehicles in a confined area

Published online by Cambridge University Press:  13 June 2014

Qian Zhang ,
Gerard Leng  and
Vengatesan Govindaraju
Qian Zhang*
Affiliation:
Department of Mechanical Engineering, National University of Singapore, Singapore
Gerard Leng
Affiliation:
Department of Mechanical Engineering, National University of Singapore, Singapore
Vengatesan Govindaraju
Affiliation:
Department of Mechanical Engineering, National University of Singapore, Singapore
*
*Corresponding author. E-mail: zhangqian@nus.edu.sg; zhangqian12399@hotmail.com
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Summary

This paper provides a mathematical approach to study the duration of collision-free motion of multiple unmanned autonomous vehicles (UXVs) operating in confined areas. A simple geometric model of the UXVs is first proposed, and the dynamics of the model is shown. The expected time of first collision is then formulated using the concept of mean free path from molecular dynamics. Monte-Carlo simulation is performed to verify the theory developed. The expected time of first collision is a function of the number of UXVs, the UXV speed and the sensor field of view (FOV) for a given operational area and vehicle size. Furthermore, the critical number of UXVs, above which collision can be deemed to occur instantly, is obtained.

Keywords

Motion planningMulti-robot systemsMobile robotsPath planningSwarm robotics
Type
Articles
Information
Robotica , Volume 34 , Issue 2 , February 2016 , pp. 347 - 360
Copyright
Copyright © Cambridge University Press 2014 

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