Title :
A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots
Author :
Liu, Shuang ; Sun, Dong ; Zhu, Changan ; Shang, Wen
Author_Institution :
Control & Mechatron. Group, Univ. of Sci. & Technol. of China, Suzhou, China
Abstract :
This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system.
Keywords :
mobile robots; multi-robot systems; multivariable control systems; path planning; robot dynamics; decentralized motion planning; dynamic priority strategy; formation forming; formation-structure constraint; multiple mobile robots; Collision avoidance; Intelligent robots; Interference; Mobile robots; Motion planning; Path planning; Robot kinematics; Strategic planning; Sun; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354715