Accomplishing Tasks in Reaching the Goal of Robot Formation


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The article presents a hierarchical steering system for developing mobile robots and fulfils the established goal in unknown surroundings. The task was carried out with reference to a cooperative combination of elementary behaviour patterns such as finding destination and avoiding obstacles, and was generated using the Kohonen neural network. The paper has assumed formation shape and considered the right of steering other robots in the formation process. Finally, the proposed solution has been verified.



Solid State Phenomena (Volumes 220-221)

Edited by:

Algirdas V. Valiulis, Olegas Černašėjus and Vadim Mokšin




A. Burghardt, "Accomplishing Tasks in Reaching the Goal of Robot Formation", Solid State Phenomena, Vols. 220-221, pp. 27-32, 2015

Online since:

January 2015





* - Corresponding Author

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[4] Z. Hendzel, A. Burghardt, M. Szuster, Artificial Intelligence Methods in Reactive Navigation of Mobile Robots Formation, in: IJCCI 2012 Proceedings of the 4th International Joint Conference on Computational Intelligence, October 5–7, 2012, Barcelona, Spain, p.466.


[5] A. Burghardt, Proposal for a rapid prototyping environment for algorithms intended for autonomous mobile robot control, Mechanics and Mechanical Engineering, Technical University of Lodz, 1 (2008) 5–16.