Research Article
Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents
Table 1
Scenario 1. The parameters utilised in the numerical simulation. There are 3 point-mass mobile robots
and 1 rectangular-plane obstacle
.
| Description | Value |
| Initial state of the point-mass mobile robots | Workspace | |
| Initial position, radius | , | , | , | Constraints |
| Target centre, radius | | | |
| Rectangular plane | | | | Control and convergence parameters | Avoidance of workspace | for and | Avoidance of rectangular plane | for and | Interindividual collision avoidance | for and | Convergence | for |
|
|