Motion Planning of Multi-robot Formation Based on Representation Space

摘要：

The motion planning problem of multi-robot formation is investigated based on representation space (RS) in this paper. The representation space model of a multi-robot system is constructed to characterize all the task related attributes, which may include: location, orientation, size and pattern. The external constraints of task realization are modeled as obstacle regions in representation space. Therefore, the formation planning task can be converted to trajectory searching in representation space. Based on the representation space framework, a hierarchical approach was proposed. Feasibility of task can be evaluated in the representation space framework. If the task is infeasible, robot system and/or task model must be modified to make it feasible.

关键词： representation space formation planning evaluation of task feasibility motion planning

作者: CHAI Ruizhi SU Jianbo

作者单位: Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 6389-6394

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）