Title :
A decentralized local constraint path planner for multiple mobile robots
Author :
Liu, Shuang ; Sun, Dong ; Zhu, Changan ; Shang, Wen
Author_Institution :
Suzhou Res. Inst., City Univ. of Hong Kong, Hong Kong, China
Abstract :
This paper presents a decentralized motion planning methodology for multiple mobile robots. A novel three-step local-constraint-path planner (LCPP) is proposed to perform path planning for each robot while considering kinematic constraint and online implement efficiency. A priority-based strategy is employed in the planning to avoid mutual collisions amongst the robots. Simulations are performed on a group of mobile robots to demonstrate the performance of the proposed planning method.
Keywords :
decentralised control; mobile robots; multi-robot systems; path planning; decentralized local constraint path planner; decentralized motion planning methodology; kinematic constraint; multiple mobile robots; online implement efficiency; priority-based strategy; Collision avoidance; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Strategic planning; Sun; Trajectory;
Conference_Titel :
Information and Automation, 2009. ICIA '09. International Conference on
Conference_Location :
Zhuhai, Macau
Print_ISBN :
978-1-4244-3607-1
Electronic_ISBN :
978-1-4244-3608-8
DOI :
10.1109/ICINFA.2009.5205103
