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Coordinated Motion Planning for Multiple Mobile Robots Along Designed Paths With Formation Requirement

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3 Author(s)
Shuang Liu ; Control and Mechatronics Group, Joint Research Center, City University of Hong Kong, Kowloon, Hong Kong ; Dong Sun ; Changan Zhu

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.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:16 ,  Issue: 6 )