MULTI-ROBOT MOTION PLANNING: A MODIFIED RECEDING HORIZON APPROACH FOR REACHING GOAL STATES

Authors

  • José M. Mendes Filho CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, F-91191, France ENSTA Paristech, UnitÃl d’Informatique et d’IngÃlnierie des SystÃlmes, 828 bd des Marechaux, 91762, France
  • Eric Lucet CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, F-91191, France

DOI:

https://doi.org/10.14311/APP.2016.56.0010

Keywords:

multi-robot motion planning, nonholonomic mobile robot, distributed planning, receding horizon

Abstract

This paper proposes the real-time implementation of an algorithm for collision-free motion planning based on a receding horizon approach, for the navigation of a team of mobile robots in presence of obstacles of different shapes. The method is simulated with three robots. Impact of parameters is studied with regard to computation time, obstacle avoidance and travel time.

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Published

2016-02-29

Issue

Vol. 56 No. 1 (2016)

Section

Articles

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How to Cite

Mendes Filho, J. M., & Lucet, E. (2016). MULTI-ROBOT MOTION PLANNING: A MODIFIED RECEDING HORIZON APPROACH FOR REACHING GOAL STATES. Acta Polytechnica, 56(1), 10-17. https://doi.org/10.14311/APP.2016.56.0010