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

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Original languageEnglish
Article number5582288
Pages (from-to)1021-1031
Journal / PublicationIEEE/ASME Transactions on Mechatronics
Issue number6
Publication statusPublished - Dec 2011


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