Consensus algorithm for obstacle avoidance and formation control

Sadiyoko, Ali; Riyanto, Bambang; Mutijarsa, Kusprasapta; Adiprawita, Widyawardana

doi:10.1109/ascc.2015.7244770

Cited by 2 publications

(3 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…So, by using this simplification and equation in [3], the avoidance behavior part of SFM is written as:…”

Section: A Social Force Modelmentioning

confidence: 99%

“…In this paper, virtual structure (VS) approach to solve the formation control problems was used. Using this approach, the entire formation is treated as a rigid body or single structure, and then, the control strategy is derived in three stages [3] Since the research used 4 robots, a triangle formation for the group of 3 robots (R1, R2, and R3) was defined. The 4th robot will be acted as dynamic obstacle.…”

Section: B Consensus Algorithm For Formationmentioning

confidence: 99%

“…For this purpose, an algorithm called the Consensus Algorithm was used [3]. Consensus Algorithm (CA) is a distributed algorithm for multi-agent system to achieve an agreement on the information states of each agent.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model

Sadiyoko

Trilaksono

Mutijarsa

et al. 2015

J. Mechatron. Electr. Power Veh. Technol.

Self Cite

View full text Add to dashboard Cite

This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian's walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot's behavior. The aim of the integration of SFM into robot's behavior is to increase robot's ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human's behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm.

show abstract

“…So, by using this simplification and equation in [3], the avoidance behavior part of SFM is written as:…”

Section: A Social Force Modelmentioning

confidence: 99%

Section: B Consensus Algorithm For Formationmentioning

confidence: 99%