TY - GEN
T1 - An approach for collaborative path planning in multi-robot systems
AU - Belkhouche, F.
AU - Jin, T.
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
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U2 - 10.1109/ICSMC.2009.5346358
DO - 10.1109/ICSMC.2009.5346358
M3 - Conference contribution
AN - SCOPUS:74849108536
SN - 9781424427949
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 2356
EP - 2361
BT - Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
T2 - 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Y2 - 11 October 2009 through 14 October 2009
ER -