Coordinated motion planning for multi-robot based on multi-stage Pseudospectral Method

Coordinated motion planning is an essential problem for robot team to achieve multi-robot cooperation. In this paper, Gauss Pseudospectral Method (GPM) is employed to solve the optimal motion planning for multiple robots. Adaptive multi-stage GPM is proposed for multi-robot motion planning by designing intermediate nodes skillfully. Coordinated motion planning is decoupled by planning motion trajectories for each robot in turn. The robots whose motion trajectories have been planned are regarded as the moving obstacles and then converted into the path constraints for the other robots. Finally, the simulation of multi-robot coordinated motion planning algorithm is conducted. The simulation results demonstrate the effectiveness of the proposed method.