Navigation of multiple mobile robots in unknown environments using a new decentralized navigation function

摘要

This paper studies navigation for multiple mobile robots while avoiding collisions and ensuring global network connectivity in unknown environments. It is found that when the traditional navigation function is employed, control input is extremely small if robots work in a large environment, which implies that robots will almost stop at their initial positions. To solve this problem, a new decentralized navigation function is proposed with a novel goal function which is then applied in a multi-robot navigation scenario. Based on the properties of navigation function and dual Lyapunov theorem, a sufficient condition is derived for robots converging to regions surrounding their corresponding goal positions in a collision-free and connectivity-keeping manner. Simulation results demonstrate the efficacy of the proposed method.