Title :

Motion planning for cooperative unicycle-type mobile robots with limited sensing ranges: A distributed receding horizon approach

Author(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]

Journal title :

Robotics and Autonomous Systems

Pages :

1094-1106

Publisher :

Elsevier

Publication date :

2009-11

ISSN :

0921-8890

English keyword(s) :

Decentralized intelligence
Receding horizon planning
Nonholonomic mobile robot
Multi-vehicle formation

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [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 ...
Show more >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.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL