Closed loop navigation for multiple holonomic vehicles
Savvas G. Loizou, Kostas J. Kyriakopoulos · 2003
We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expressions for the robot potential functions guarantee global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulations.