This paper presents an approach of calculating coordinated paths for multiple mobile robots operating in the same environment. Therefore, the presented approach extends the configuration space with a time component. Based on an A* algorithm, it calculates collision free paths of multiple robots. Moreover, it is capable of replanning the path in dynamic environments without doing an iterated A* path planning from scratch. The correctness of the approach is proven, and experiments show the achieved improvement in computation time compared to an iterated path planning from scratch. A lattice type state space representation based on short motion sequences is applied to the approach, resulting in more realistic and traversable trajectories for vehicles. The feasibility is shown by letting a simulated convoy turn autonomously to the opposite direction.


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    Titel :

    Dynamic path planning for coordinated motion of multiple mobile robots


    Beteiligte:
    Langerwisch, M. (Autor:in) / Wagner, B. (Autor:in)


    Erscheinungsdatum :

    01.10.2011


    Format / Umfang :

    372370 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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