Title :
Priority-based intersection management with kinodynamic constraints
Author :
Gregoire, Jean ; Bonnabel, Silvere ; de La Fortelle, Arnaud
Author_Institution :
Center for Robot., MINES ParisTech, Paris, France
Abstract :
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot motion planning. Assuming the priorities between robots are assigned in advance and the existence of a collision-free trajectory respecting those priorities, we propose a provably safe trajectory planner satisfying kinodynamic constraints. The algorithm is shown to run in real time and to return safe (collision-free) trajectories. Simulation results on synthetic data illustrate the benefits of the approach.
Keywords :
mobile robots; multi-robot systems; path planning; robot dynamics; actuator limitations; collision-free trajectory; coordination space approach; dynamical constraints; kinodynamic constraints; multiple robot motion planning; priority-based intersection management; robot collection; safe trajectory planner; synthetic data; Acceleration; Collision avoidance; Planning; Robot kinematics; Safety; Trajectory;
Conference_Titel :
Control Conference (ECC), 2014 European
Conference_Location :
Strasbourg
Print_ISBN :
978-3-9524269-1-3
DOI :
10.1109/ECC.2014.6862377