Geometric motion planning and formation optimization for a fleet of nonholonomic wheeled mobile robots

被引：5
|
作者：
Bhatt, R [1 ]
Tang, CP [1 ]
Krovi, V [1 ]
机构：
[1] SUNY Buffalo, Buffalo, NY 14260 USA
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
based multi-agent motion planning; nonholonomy; performance evaluation; formation optimization;
D O I：
10.1109/ROBOT.2004.1308759
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a geometric method for motion planning for a fleet of differentially-driven wheeled mobile robots moving in formation, that explicitly takes in to account their nonholonomic constraints. The relative position within the formation induces different motion plans each individual wheeled mobile robot (WMR). We can quantitatively evaluate the performance of such induced motion plans using suitable metrics defined for the motions of each WMR These performance metrics in cumulative form or individual form are used to optimize the overall formation (i.e. their relative positions) for performing a given task. The approach is well suited for online implementation and is demonstrated using case studies.
引用
收藏
页码：3276 / 3281
页数：6
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