Motion planning for formations of mobile robots

This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with non...

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Bibliographic Details
Published in:Robotics and autonomous systems 2004-02, Vol.46 (2), p.65-78
Main Authors: Barfoot, T.D., Clark, C.M.
Format: Article
Language:English
Subjects:
Mobile robots
Motion planning
Non-holonomic constraint
Robot formations
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Summary:This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with non-holonomic constraints is presented. The kinematic equations developed allow a certain class of formations to be maintained while the group as a whole exhibits motion. The work was validated using the Stanford Micro-Autonomous RoverS Testbed.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2003.11.004