Coordinated motion planning for multiple mobile robots along designed paths with formation requirement

Shuang Liu; Dong Sun; Changan Zhu

doi:10.1109/TMECH.2010.2070843

Author(s)

Shuang Liu
Dong Sun
Changan Zhu

Detail(s)

Original language	English
Article number	5582288
Pages (from-to)	1021-1031
Journal / Publication	IEEE/ASME Transactions on Mechatronics
Volume	16
Issue number	6
Publication status	Published - Dec 2011

Link(s)

DOI	DOI https://doi.org/10.1109/TMECH.2010.2070843 Final Published version
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Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-80052643575&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(9cd151d8-3049-4185-af6d-e6901fbc60ea).html

Abstract

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.

Research Area(s)

Coordination, formations, motion planning, multiple mobile robots

Citation Format(s)

[ RIS ] [ BibTeX ]

Coordinated motion planning for multiple mobile robots along designed paths with formation requirement. / Liu, Shuang; Sun, Dong; Zhu, Changan.
In: IEEE/ASME Transactions on Mechatronics, Vol. 16, No. 6, 5582288, 12.2011, p. 1021-1031.

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Liu, S, Sun, D & Zhu, C 2011, 'Coordinated motion planning for multiple mobile robots along designed paths with formation requirement', IEEE/ASME Transactions on Mechatronics, vol. 16, no. 6, 5582288, pp. 1021-1031. https://doi.org/10.1109/TMECH.2010.2070843

Liu, S., Sun, D., & Zhu, C. (2011). Coordinated motion planning for multiple mobile robots along designed paths with formation requirement. IEEE/ASME Transactions on Mechatronics, 16(6), 1021-1031. Article 5582288. https://doi.org/10.1109/TMECH.2010.2070843

Liu S, Sun D, Zhu C. Coordinated motion planning for multiple mobile robots along designed paths with formation requirement. IEEE/ASME Transactions on Mechatronics. 2011 Dec;16(6):1021-1031. 5582288. doi: 10.1109/TMECH.2010.2070843

Liu, Shuang ; Sun, Dong ; Zhu, Changan. / Coordinated motion planning for multiple mobile robots along designed paths with formation requirement. In: IEEE/ASME Transactions on Mechatronics. 2011 ; Vol. 16, No. 6. pp. 1021-1031.