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A multiple mobile robot path planning method is proposed for both rollover prevention and collision avoidance. The proposed method consists of two steps such as rollover-free path generation and collision avoidance among multiple mobile robots. In the first step, the smooth path without rollover is generated by using the sequential Hermite curves, taking intrinsic constraints of the mobile robots into consideration. In the next step, the departure time of every mobile robot is determined for collision avoidance among mobile robots using the extended collision map. Finally, the simulation is carried out with multiple mobile robots for verifying the efficiency of the proposed method.
Date of Conference: 26-29 Oct. 2011