An approach for collaborative path planning in multi-robot systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper presents a reactive algorithm for multirobot cooperative path planning. The algorithm integrates the real-time collision detection process with linear navigation functions. The collision detection strategy is based on an improved version of the swept volumes method that uses the relative kinematics of the robots in addition to the geometric considerations of the paths. The swept volumes determine the collision conditions, which are written in terms of the relative velocities and orientations. Speed and orientation collision intervals are then derived based on the swept volumes. A collision histogram is then constructed as a collection of the speed and orientation collision intervals. The collision histograms show the free directions and the direction corresponding to collision. The desired orientation and speed are chosen using the collision histograms. The strategy is illustrated using an extensive simulation study.

Original languageEnglish (US)
Title of host publicationProceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages2356-2361
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States
Duration: Oct 11 2009Oct 14 2009

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Other

Other2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
CountryUnited States
CitySan Antonio, TX
Period10/11/0910/14/09

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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