A decentralized local constraint path planner for multiple mobile robots

Shuang Liu; Dong Sun; Changan Zhu; Wen Shang

doi:10.1109/ICINFA.2009.5205103

A decentralized local constraint path planner for multiple mobile robots

Shuang Liu, Dong Sun, Changan Zhu, Wen Shang

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

3 Citations (Scopus)

Abstract

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. © 2009 IEEE.

Original language	English
Title of host publication	2009 IEEE International Conference on Information and Automation, ICIA 2009
Pages	1222-1227
DOIs	https://doi.org/10.1109/ICINFA.2009.5205103
Publication status	Published - 2009
Event	2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China Duration: 22 Jun 2009 → 25 Jun 2009

Conference

Conference	2009 IEEE International Conference on Information and Automation, ICIA 2009
Place	China
City	Zhuhai, Macau
Period	22/06/09 → 25/06/09

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title = "A decentralized local constraint path planner for multiple mobile robots",

abstract = "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. {\textcopyright} 2009 IEEE.",

author = "Shuang Liu and Dong Sun and Changan Zhu and Wen Shang",

year = "2009",

doi = "10.1109/ICINFA.2009.5205103",

language = "English",

isbn = "9781424436088",

pages = "1222--1227",

booktitle = "2009 IEEE International Conference on Information and Automation, ICIA 2009",

note = "2009 IEEE International Conference on Information and Automation, ICIA 2009 ; Conference date: 22-06-2009 Through 25-06-2009",

}

Liu, S, Sun, D, Zhu, C & Shang, W 2009, A decentralized local constraint path planner for multiple mobile robots. in 2009 IEEE International Conference on Information and Automation, ICIA 2009., 5205103, pp. 1222-1227, 2009 IEEE International Conference on Information and Automation, ICIA 2009, Zhuhai, Macau, China, 22/06/09. https://doi.org/10.1109/ICINFA.2009.5205103

A decentralized local constraint path planner for multiple mobile robots. / Liu, Shuang; Sun, Dong; Zhu, Changan et al.
2009 IEEE International Conference on Information and Automation, ICIA 2009. 2009. p. 1222-1227 5205103.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

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AU - Sun, Dong

AU - Zhu, Changan

AU - Shang, Wen

PY - 2009

Y1 - 2009

N2 - 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. © 2009 IEEE.

AB - 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. © 2009 IEEE.

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DO - 10.1109/ICINFA.2009.5205103

M3 - RGC 32 - Refereed conference paper (with host publication)

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SP - 1222

EP - 1227

BT - 2009 IEEE International Conference on Information and Automation, ICIA 2009

T2 - 2009 IEEE International Conference on Information and Automation, ICIA 2009

Y2 - 22 June 2009 through 25 June 2009

ER -

A decentralized local constraint path planner for multiple mobile robots

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