By Topic

Motion planning of multirobot formation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Shuang Liu ; Control & Mechatron. Group, Univ. of Hong Kong, Suzhou, China ; Dong Sun ; Changan Zhu

This paper presents a motion planning approach to 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:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010