Abstract
This article extends ideas from crowd dynamics to a navigation controller for mobile robots. Each mobile robot is considered as an agent, associated to a comfort zone with a certain radius, which creates a repulsive force when this comfort zone is violated by its environment or by another agent, therefore avoiding collisions. Meanwhile, attractive forces drive the agents from their instantaneous position to a goal position. The resulting navigation controller is tested by simulations and experiments. It is found that simulations capture the global dynamic behavior that is shown in experiments, showing robustness of the proposed navigation controller.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Vicsek, T., Czirók, A., Ben-Jacob, E., Cohen, I., Shochet, O.: Novel type of phase transition in a system of self-driven particles. Phys. Rev. Lett. 75(6), 1226–1229 (1995)
Kostic, D., Adinandra, S., van de Caarls, J., Wouw, N., Nijmeijer, H.: Collision-free tracking control of unicycle mobile robots. In: Proceedings of the 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (CDC/CCC), pp. 5667–5672 (2009)
Dai, Y., Lee, S.G.: Formation control of mobile robots with obstacle avoidance based on GOACM using onboard sensors. Int. J. Control Autom. Syst. 12(5), 1077–1089 (2014)
Helbing, D., Buzna, L., Johansson, A., Werner, T.: Self-organized pedestrian crowd dynamics: experiments, simulations, and design solutions. Transp. Sci. 39(1), 1–24 (2005). doi:10.1287/trsc.1040.0108
Helbing, D., Farkas, I., Vicsek, T.: Simulating dynamical features of escape panic. Nature 407, 487–490 (2000)
Xuesong, C., Yimin, Y., Shuting, C., Jianping, C.: Modeling and analysis of multi-agent coordination using nearest neighbor rules. In: 2009 International Asia Conference on Informatics in Control, Automation and Robotics (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Rodriguez-Angeles, A., Nijmeijer, H., van Kuijk, F.J.M. (2016). A Bio-inspired Autonomous Navigation Controller for Differential Mobile Robots Based on Crowd Dynamics. In: Tan, Y., Shi, Y., Li, L. (eds) Advances in Swarm Intelligence. ICSI 2016. Lecture Notes in Computer Science(), vol 9713. Springer, Cham. https://doi.org/10.1007/978-3-319-41009-8_60
Download citation
DOI: https://doi.org/10.1007/978-3-319-41009-8_60
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-41008-1
Online ISBN: 978-3-319-41009-8
eBook Packages: Computer ScienceComputer Science (R0)