Motion Planning of Multiple Mobile Robots with Formation Requirement
This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots’ velocities along the paths, which is modeled as a velocity optimization problem. An objective function to minimize the formation errors is established. A solution to achieve this objective function is obtained by the optimizer of LINGO (a linear interactive and general optimizer). Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach.
Motion planning multiple mobile robots formations
Shuang Liu Dong Sun Changan Zhu
Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong and the Univer Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Department of Precision Machinery and Precision Instrumentations University of Science and Technolog
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）