Cooperative path planning for mobile robots based on visibility graph

Yingchong Ma 1 Gang Zheng 2, 1 Wilfrid Perruquetti 1, 2, 3
2 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
Abstract : This paper presents a cooperative path planning approach for the navigation of nonholonomic mobile robots in environment with obstacles. Shared information can be obtained by sharing the local information between robots, thus the trajectories can be more optimized. Visibility graph approach is used to generate a series of intermediate objectives which guarantee the robots to reach the final objective without local minima. Then the reach of intermediate objectives is ensured by the optimal path planning algorithm. The velocity constraints, kinematic constraints and nonholonomic constraints of the mobile robot are considered in the problem.
Document type :
Conference papers
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https://hal.inria.fr/hal-00910186
Contributor : Gang Zheng <>
Submitted on : Wednesday, November 27, 2013 - 3:22:59 PM
Last modification on : Friday, March 22, 2019 - 1:35:36 AM

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  • HAL Id : hal-00910186, version 1

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Yingchong Ma, Gang Zheng, Wilfrid Perruquetti. Cooperative path planning for mobile robots based on visibility graph. IEEE 32nd Chinese Control Conference, IEEE, Jul 2013, Xi'an, China. ⟨hal-00910186⟩

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