MULTI-ROBOT MOTION PLANNING: A MODIFIED RECEDING HORIZON APPROACH FOR REACHING GOAL STATES

José M. Mendes Filho, Eric Lucet

Abstract


This paper proposes the real-time implementation of an algorithm for collision-free motion planning based on a receding horizon approach, for the navigation of a team of mobile robots in presence of obstacles of different shapes. The method is simulated with three robots. Impact of parameters is studied with regard to computation time, obstacle avoidance and travel time.

Keywords


multi-robot motion planning; nonholonomic mobile robot; distributed planning; receding horizon

Refbacks

  • There are currently no refbacks.


Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

ISSN 1210-2709 (Print)
ISSN 1805-2363 (Online)
Published by the Czech Technical University in Prague