Sequential path planning for a formation of mobile robots with split and merge Article Swipe
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· 2017
· Open Access
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· DOI: https://doi.org/10.1109/la-cci.2017.8285722
An algorithm for robot formation path planning is presented in this paper.\nGiven a map of the working environment, the algorithm finds a path for a\nformation taking into account possible split of the formation and its\nconsecutive merge. The key part of the solution works on a graph and\nsequentially employs an extended version of Dijkstra's graph-based algorithm\nfor multiple robots. It is thus deterministic, complete, computationally\ninexpensive, and finds a solution for a fixed source node to another node in\nthe graph. Moreover, the presented solution is general enough to be\nincorporated into high-level tasks like cooperative surveillance and it can\nbenefit from state-of-the-art formation motion planning approaches, which can\nbe used for evaluation of edges of an input graph. The performed experimental\nresults demonstrate the behavior of the method in complex environments for\nformations consisting of tens of robots.\n
Related Topics To Compare & Contrast
- Type
- preprint
- Language
- en
- Landing Page
- https://doi.org/10.1109/la-cci.2017.8285722
- OA Status
- green
- Cited By
- 4
- References
- 23
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2787371296