MULTI-ROBOT MOTION PLANNING: A MODIFIED RECEDING HORIZON APPROACH FOR REACHING GOAL STATES

Acta Polytechnica

Eric Lucet²  José M. Mendes Filho¹ 

[1] CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, F-91191, FranceENSTA Paristech, UnitÃl d’Informatique et d’IngÃlnierie des SystÃlmes, 828 bd des Marechaux, 91762, France;CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, F-91191, France

关键词: multi-robot motion planning;    nonholonomic mobile robot;    distributed planning;    receding horizon;   

DOI  :  

来源: Czech Technical University in Prague, Faculty of M

【 摘 要 】

This paper proposes the real-time implementation of an algorithm for collision-free motion planning based on a receding horizon approach, for the navigation of a team of mobile robots in presence of obstacles of different shapes. The method is simulated with three robots. Impact of parameters is studied with regard to computation time, obstacle avoidance and travel time.

【 授权许可】

Unknown