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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Dynamic path planning for coordinated motion of multiple mobile robots


    Contributors:


    Publication date :

    2011-10-01


    Size :

    372370 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Path planning in mobile robots

    BLAKE ANDREW / RAMAMOORTHY SUBRAMANIAN / PENKOV SVETLIN VALENTINOV et al. | European Patent Office | 2025

    Free access

    PATH PLANNING IN MOBILE ROBOTS

    BLAKE ANDREW / RAMAMOORTHY SUBRAMANIAN / PENKOV SVETLIN VALENTINOV et al. | European Patent Office | 2022

    Free access

    Path planning in mobile robots

    BLAKE ANDREW / RAMAMOORTHY SUBRAMANIAN / PENKOV SVETLIN-VALENTINOV et al. | European Patent Office | 2023

    Free access

    Environment Recognition and Path Planning by Multiple Mobile Robots

    Kumaki, T. / Nakajima, M. / Kakikura, M. | British Library Online Contents | 1997