Velocity Variation Space Based Multiple Agents Motion Planning for Mobile Robot

摘要：

A new approach for multiple agents motion planning is discussed. Different from the previous multi-agent motion planning method, this method is mainly focus on the dynamics constraints and control efficiency. The concept of velocity variation space is introduced to plan the control velocity of agent, and the evaluation function is designed to decide the best control velocity based on the velocity variation space. Simulation experiments show that the proposed method can make agents avoid other obstacles and track the moving target.

关键词： multi-agent motion planning velocity obstacle robot control

作者: HUANG Jiawei ZHONG Xunyu PENG Xiafu

作者单位: Department of Automation, Xiamen University, Xiamen 361005, 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: 4820-4824

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）