Motion planning for cooperative unicycle-type ...
Type de document :
Compte-rendu et recension critique d'ouvrage
Titre :
Motion planning for cooperative unicycle-type mobile robots with limited sensing ranges: A distributed receding horizon approach
Auteur(s) :
Defoort, Michael [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Floquet, Thierry [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Kökösy, Annemarie [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Perruquetti, Wilfrid [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Non-Asymptotic estimation for online systems [NON-A]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Floquet, Thierry [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Kökösy, Annemarie [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Perruquetti, Wilfrid [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Non-Asymptotic estimation for online systems [NON-A]
Titre de la revue :
Robotics and Autonomous Systems
Pagination :
1094-1106
Éditeur :
Elsevier
Date de publication :
2009-11
ISSN :
0921-8890
Mot(s)-clé(s) en anglais :
Decentralized intelligence
Receding horizon planning
Nonholonomic mobile robot
Multi-vehicle formation
Receding horizon planning
Nonholonomic mobile robot
Multi-vehicle formation
Discipline(s) HAL :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Résumé en anglais : [en]
This paper presents a decentralized motion planner for a formation of autonomous mobile robots evolving in an unknown environment with obstacles. The motion planning scheme consists of decentralized receding horizon planners ...
Lire la suite >This paper presents a decentralized motion planner for a formation of autonomous mobile robots evolving in an unknown environment with obstacles. The motion planning scheme consists of decentralized receding horizon planners that reside on each vehicle to achieve coordination among formation 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 assumed trajectory designed without taking the coupling constraints into account. Finally, 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.Lire moins >
Lire la suite >This paper presents a decentralized motion planner for a formation of autonomous mobile robots evolving in an unknown environment with obstacles. The motion planning scheme consists of decentralized receding horizon planners that reside on each vehicle to achieve coordination among formation 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 assumed trajectory designed without taking the coupling constraints into account. Finally, 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.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :
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