General Path Planning Methodology for Leader-Follower Robot Formations

被引：16

作者：

Garrido, Santiago ^{[1
]}

Moreno, Luis ^{[1
]}

Gomez, Javier V. ^{[1
]}

Lima, Pedro U. ^{[2
]}

机构：

[1] Univ Carlos III Madrid, RoboticsLab, E-28903 Getafe, Spain

[2] Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷

关键词：

Path Planning; Robot Formation; Fast Marching;

D O I：

10.5772/53999

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave's distance from obstacles increases. This method provides smooth and safe trajectories and its computational efficiency allows us to maintain a good response time. The proposed method is based on a local-minima-free planner; it is complete and has an O(n) complexity order where n is the number of cells of the map. Simulation results show that the proposed algorithm generates good trajectories.

引用

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页数：10

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