A Decentralized Local Constraint Path Planner for Multiple Mobile Robots

摘要：

This paper presents a decentralized motion planning methodology for multiple mobile robots. A novel three-step Local-Constraint-Path Planner (LCPP) is proposed to perform path planning for each robot while considering kinematic constraint and online implement efficiency. A priority-based strategy is employed in the planning to avoid mutual collisions amongst the robots. Simulations are performed on a group of mobile robots to demonstrate the performance of the proposed planning method.

作者: Shuang Liu Dong Sun Changan Zhu Wen Shang

作者单位: Control and Mechatronics Group,Suzhou Research Institute of City University of Hong Kong and the Uni Department of Manufacturing Engineering and Engineering Management,City University of Hong Kong,Hong Department of Precision Machinery and nstrumentations,University of Science and Technology of China, Suzhou Research Institute of City University of Hong Kong,Suzhou,P. R. China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 1222-1227

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）