DocumentCode :
2696020
Title :
Distributed receding horizon planning for multi-robot systems
Author :
Defoort, Michael
Author_Institution :
Univ. Lille Nord de France, Lille, France
fYear :
2010
fDate :
8-10 Sept. 2010
Firstpage :
1263
Lastpage :
1268
Abstract :
This paper considers the navigation of a group of nonholonomic autonomous mobile robots subject to constraints imposed by sensors. The proposed scheme uses a decentralized receding horizon motion planner, in which each robot computes its own planned trajectory. The proposed scheme is divided into two steps. First, each robot computes its presumed trajectory without taking the coupling constraints (i.e. the collision avoidance between robots) into account. Then, robots which may produce collision adjust their presumed trajectory using local exchanged information. The proposed algorithm, based on potential field method, allows the navigation of a large-scale multi-robot system. Finally, simulation results demonstrate the effectiveness of the proposed strategy.
Keywords :
collision avoidance; decentralised control; distributed control; distributed parameter systems; large-scale systems; mobile robots; multi-robot systems; telerobotics; collision avoidance; decentralized receding horizon motion planner; distributed receding horizon planning; large-scale multi-robot system; nonholonomic autonomous mobile robots; trajectory planning; Collision avoidance; Planning; Robot kinematics; Robot sensing systems; Trajectory; Vehicles; Decentralized navigation; Nonholonomic mobile robot; Potential field; Receding horizon planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications (CCA), 2010 IEEE International Conference on
Conference_Location :
Yokohama
Print_ISBN :
978-1-4244-5362-7
Electronic_ISBN :
978-1-4244-5363-4
Type :
conf
DOI :
10.1109/CCA.2010.5611312
Filename :
5611312
Link To Document :
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