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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Shuang Liu Dong Sun Changan Zhu |
| Copyright Year | 2010 |
| Description | Author affiliation: Department of Precision Machinery and Precision Instrumentations, University of Science and Technology of China, Hefei, China (Changan Zhu) || Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, China (Dong Sun) || Control and Mechatronics Group, Suzhou Research Center of City, University of Hong Kong and the University of Science and Technology of China, China (Shuang Liu) |
| Abstract | This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots' velocities along the paths, which is modeled as a velocity optimization problem. An objective function to minimize the formation errors is established. A solution to achieve this objective function is obtained by the optimizer of LINGO (a linear interactive and general optimizer). Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach. |
| Starting Page | 71 |
| Ending Page | 76 |
| File Size | 405709 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424457014 |
| e-ISBN | 9781424457045 |
| DOI | 10.1109/ICINFA.2010.5512335 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-06-20 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Motion planning Robot kinematics formations Path planning Mobile robots Acceleration Technology planning Collision avoidance multiple mobile robots Manufacturing automation Mathematical programming Robot programming |
| Content Type | Text |
| Resource Type | Article |
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