%0 Journal Article
%T Artificial coordinating field based real-time coordinating collision-avoidance planning for multiple mobile robots<br>基于人工协调场的多移动机器人实时协调避碰规划
%A JING Xing-jian
%A WANG Yue-chao
%A TAN Da-long
%A <br>景兴建
%A 王越超
%A 谈大龙
%J 控制理论与应用
%D 2004
%I 
%X To overcome the drawbacks of the conventional artificial potential fields in motion planning of mobile robots for dynamic uncertain environments,an artificial coordinating field (ACF) is proposed.Definitions and basic designs of the ACFs were investigated with regard to the collision risk and motion constraints of mobile robots.Based on the ACFs,an effective algorithm without the "dead-lock" for coordinating collision avoidance of multiple mobile robots in dynamic uncertain environments was developed.The theorical analysis and simulations illustrated our results.
%K artificial coordinating fields
%K dynamic uncertain environments
%K coordinating collision avoidance
%K multiple mobile robots<br>人工协调场
%K 动态不确定环境
%K 协调避碰
%K 多机器人
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=0BE38DFEF6B4B58A&yid=D0E58B75BFD8E51C&vid=659D3B06EBF534A7&iid=94C357A881DFC066&sid=A8E9231F98774741&eid=231F9A307C169827&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=4&reference_num=11