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Leader–follower-based dynamic trajectory planning for multirobot formation

Published online by Cambridge University Press:  12 June 2013

Shuang Liu  and
Dong Sun
Shuang Liu*
Affiliation:
Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail: medsun@cityu.edu.hk
Dong Sun
Affiliation:
Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail: medsun@cityu.edu.hk
*
*Corresponding author. E-mail: shuangliu2@cityu.edu.hk
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Summary

The present paper presents a new approach to a leader–follower-based dynamic trajectory planning for multirobot formation. A near-optimal trajectory is generated for each robot in a decentralized manner. The main contributions of the current paper are the proposal of a new objective function that considers both collision avoidance and formation requirement for the trajectory generation, and an analytical solution of trajectory parameters in the trajectory optimization. Simulations and experiments on multirobots are performed to demonstrate the effectiveness of the proposed approach to the multirobot formation in a dynamic environment.

Keywords

Trajectory planningLeader–followerMultirobot formationCollision avoidance
Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1351 - 1359
Copyright
Copyright © Cambridge University Press 2013 

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