Computing collision-free motions for a team of robots using formation and non-holonomic constraints

This paper focuses on the collision-free motion of a team of robots moving in a 2D environment with formation and non-holonomic constraints. With the proposed approach one can simultaneously control the formation of the team and generate a safe path for each individual robot. The computed paths sati...

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Bibliographic Details
Published in:Robotics and autonomous systems 2016-08, Vol.82, p.15-23
Main Authors: Xidias, Elias K., Azariadis, Philip N.
Format: Article
Language:English
Subjects:
Collision avoidance
Collisions
Computation
Computer simulation
Formation control
Formations
Mathematical programming
Motion planning
Multi-robot systems
Non-holonomic constraints
Robots
Two dimensional
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Summary:This paper focuses on the collision-free motion of a team of robots moving in a 2D environment with formation and non-holonomic constraints. With the proposed approach one can simultaneously control the formation of the team and generate a safe path for each individual robot. The computed paths satisfy the non-holonomic constraints, avoid collisions, and minimize the task-completion time. The proposed approach, which combines techniques from mathematical programming and CAD, consists of two main steps: first, a global team path is computed and, second, individual motions are determined for each unit. The effectiveness of the proposed approach is demonstrated using several simulation experiments. •We compute collision-free motions for a team of non-holonomic robots with formation.•The resulted paths satisfy all the motion planning constraints.•The proposed approach, combines techniques from mathematical programming and CAD.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2016.04.008