Obstacle avoidance of a wheeled robotic swarm using virtual spring-damper mesh

HIGHLIGHTS

• who: Jakub Wiech from the the reference point P=07, m, follows the moving reference point along a given trajectory in the environment with obstacles. The reference point moves along the straight line with the length of, ., m at the velocity v pmax=0., m/s with a trapezoidal profile reaching the position [-, .7, ] m. The velocity profile coefficients are: b=8., s, b1=78., s, c=, s. Obstacles are rectangles diagonally spaced apart at a distance equal to, ., of the diameter of the circle described on the shape of a swarm after self-organization. The robots . . .
  

   

  

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