Motion planning for cooperative unicycle-type mobile robots with limited sensing ranges: A distributed receding horizon approach
Motion planning for cooperative unicycle-type mobile robots with limited sensing ranges: A distributed receding horizon approach
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DOI：
10.1016/j.robot.2009.07.004
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发表时间：
2009-11-01
影响因子：
4.3
通讯作者：
Palos, Jorge
中科院分区：
文献类型：
--
作者：
Defoort, Michael;Kokosy, Annemarie;Palos, Jorge
本文提出了一种分散的运动规划器的非完整移动的机器人的传感器和通信网络的约束。运动规划方案由分散的滚动时域规划器组成，这些规划器驻留在每个车辆上以实现群集代理之间的协调。所提出的算法的优点是，每个车辆只需要其相邻车辆的本地知识。以分散方式设计最优无冲突轨迹的主要要求是，每个机器人不会偏离其在不考虑耦合约束的情况下设计的假定轨迹太远。该算法和其他现有的算法之间的比较研究，以显示的优势，特别是在计算时间方面。最后，在一个由三个移动的机器人组成的团队上进行了实验，以证明所提出的方法的有效性。(C)2009爱思唯尔有限公司版权所有。
This paper presents a decentralized motion planner for a team of nonholonomic mobile robots subject to constraints imposed by sensors and the communication network. The motion planning scheme consists of decentralized receding horizon planners that reside on each vehicle to achieve coordination among flocking agents. The advantage of the proposed algorithm is that each vehicle only requires local knowledge of its neighboring vehicles. The main requirement for designing an optimal conflict-free trajectory in a decentralized way is that each robot does not deviate too far from its presumed trajectory designed without taking the coupling constraints into account. A comparative study between the proposed algorithm and other existing algorithms is provided in order to show the advantages, especially in terms of computing time. Finally, experiments are performed on a team of three mobile robots to demonstrate the validity of the proposed approach. (C) 2009 Elsevier B.V. All rights reserved.