Abstract
The present paper presents a new approach to a leader-follower-based dynamic trajectory planning for multirobot formation. A near-optimal trajectory is generated for each robot in a decentralized manner. The main contributions of the current paper are the proposal of a new objective function that considers both collision avoidance and formation requirement for the trajectory generation, and an analytical solution of trajectory parameters in the trajectory optimization. Simulations and experiments on multirobots are performed to demonstrate the effectiveness of the proposed approach to the multirobot formation in a dynamic environment. Copyright © Cambridge University Press 2013.
| Original language | English |
|---|---|
| Pages (from-to) | 1351-1359 |
| Journal | Robotica |
| Volume | 31 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - Dec 2013 |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 3 Good Health and Well-being
Research Keywords
- Collision avoidance
- Leader-follower
- Multirobot formation
- Trajectory planning
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