TY - JOUR
T1 - Coordinated motion planning for multiple mobile robots along designed paths with formation requirement
AU - Liu, Shuang
AU - Sun, Dong
AU - Zhu, Changan
PY - 2011/12
Y1 - 2011/12
N2 - This paper presents a motion-planning approach for coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity-optimization process. An objective function for minimizing formation errors is established and solved by a linear interactive and general optimizer. Motion planning can be further adjusted online to address emergent demands such as avoiding suddenly appearing obstacles. Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed coordinated motion planning in multirobot formations. © 2006 IEEE.
AB - This paper presents a motion-planning approach for coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity-optimization process. An objective function for minimizing formation errors is established and solved by a linear interactive and general optimizer. Motion planning can be further adjusted online to address emergent demands such as avoiding suddenly appearing obstacles. Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed coordinated motion planning in multirobot formations. © 2006 IEEE.
KW - Coordination
KW - formations
KW - motion planning
KW - multiple mobile robots
UR - http://www.scopus.com/inward/record.url?scp=80052643575&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-80052643575&origin=recordpage
U2 - 10.1109/TMECH.2010.2070843
DO - 10.1109/TMECH.2010.2070843
M3 - RGC 21 - Publication in refereed journal
SN - 1083-4435
VL - 16
SP - 1021
EP - 1031
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 6
M1 - 5582288
ER -