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Motion planning for multiple non-holonomic robots: a geometric approach

Published online by Cambridge University Press:  01 July 2008

Elias K. Xidias  and
Nikos A. Aspragathos
Elias K. Xidias*
Affiliation:
Department of Mechanical and Aeronautics Engineering, University of Patras, Patras, 26500Greece
Nikos A. Aspragathos
Affiliation:
Department of Mechanical and Aeronautics Engineering, University of Patras, Patras, 26500Greece
*
*Corresponding author. E-mail: xidias@mech.upatras.gr
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Summary

In this paper, a geometrical approach is developed to generate simultaneously optimal (or near-optimal) smooth paths for a set of non-holonomic robots, moving only forward in a 2D environment cluttered with static and moving obstacles. The robots environment is represented by a 3D geometric entity called Bump-Surface, which is embedded in a 4D Euclidean space. The multi-motion planning problem (MMPP) is resolved by simultaneously finding the paths for the set of robots represented by monoparametric smooth C2 curves onto the Bump-Surface, such that their inverse images onto the initial 2D workspace satisfy the optimization motion-planning criteria and constraints. The MMPP is expressed as an optimization problem, which is solved on the Bump-Surface using a genetic algorithm. The performance of the proposed approach is tested through a considerable number of simulated 2D dynamic environments with car-like robots.

Keywords

Multi-motion planningDynamic environmentNon-holonomic robotsOptimal pathsConstraintsBump-Surfaces
Type
Article
Information
Robotica , Volume 26 , Special Issue 4: Geometry in Robotics: Sensing , July 2008 , pp. 525 - 536
Copyright
Copyright © Cambridge University Press 2007

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