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.
Dynamic path planning for coordinated motion of multiple mobile robots
2011-10-01
372370 byte
Conference paper
Electronic Resource
English
Environment Recognition and Path Planning by Multiple Mobile Robots
British Library Online Contents | 1997
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