Making Robotics Swarm Flow More Smoothly: A Regular Virtual Tube Model

Pengda Mao; Quan Quan

IROS 2022poster20 citations

Making Robotics Swarm Flow More Smoothly: A Regular Virtual Tube Model

Abstract

This paper proposes a model of a class of regular virtual tubes that can generate safe, feasible, and smooth space for a robotics swarm in an obstacle-dense environment, especially for a drone swarm based on the flocking model. The regular principles are first proposed, and the regular conditions are then formulated based on the principles. A method to obtain a regular virtual tube is also presented based on trajectory planning and regular conditions. The proposed method's effectiveness and robustness are comprehensively demonstrated in a simulation environment with random obstacles.

BibTeX

@inproceedings{iros2022_makingroboticssw,
  title = {Making Robotics Swarm Flow More Smoothly: A Regular Virtual Tube Model},
  author = {Pengda Mao and Quan Quan},
  booktitle = {IROS 2022},
  year = {2022}
}