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- Title
General Path Planning Methodology for Leader-Follower Robot Formations.
- Authors
Garrido, Santiago; Moreno, Luis; Gómez, Javier V.; Lima, Pedro U.
- Abstract
This paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave's distance from obstacles increases. This method provides smooth and safe trajectories and its computational efficiency allows us to maintain a good response time. The proposed method is based on a local-minima-free planner; it is complete and has an 0(n) complexity order where n is the number of cells of the map. Simulation results show that the proposed algorithm generates good trajectories.
- Subjects
ROBOTIC path planning; ROBOT design &; construction; ROBUST control; ROBOT control systems; FAST marching method (Mathematics); COMPUTATIONAL complexity
- Publication
International Journal of Advanced Robotic Systems, 2013, Vol 10, Issue 1, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/53999