No abstract

Path planning is a key factor that determines how well a robotic vehicle performs in executing automated formations and maneuvers as in multi-vehicle platooning and self- organizing leader following with safe and graceful movements. Many types of path- planning schemes have been employed in the autonomous robotics and driving systems. In this paper, we will focus on the application of a smooth path-planning (SPP) algorithm that produces simple-to-implement robotic maneuvers. The algorithm is derived from using a well-established Lyapunov stability criterion and a clever dynamical control synthesis. We show that the SPP can be adapted to many autonomous guidance scenarios. Simulations show that the SPP resulted in autonomous behaviors similar to that parallel those of human or animal actions. The paper presents results using Matlab simulations as well as Gazebo animation. The results will provide a foundation for an implementation of SPP on actual robotic vehicles.

Flocking is a term that describes the behavior of a group of birds (a “flock”) in flight, or the swarming behavior of insects. This paper presents detailed information about how to use the flocking techniques to control a group of embedded controlled systems - ‘'Boids''- such as ground systems (robotic vehicles/ swarm robots). Each one of these systems collectively moves inside/outside of a building to reach a target. The flocking behavior is implemented on a server-based control, which processes each of the boids' properties e.g. position, speed & target. Subsequently, the server will assign the appropriate move to a specific boid. The calculated information will be used locally to control and direct the movements/flocking for each boid in the group. A simulation technique and detailed flow chart is presented. In addition to Reynolds three original rules for flocking, two other rules- targeting obstacle avoidance - are presented-. Our result shows that the obstacles' avoiding rule was utilized to ensure that the flock didn't collide with obstacles in each of the boids' paths.