An Improved RRT Algorithm for Multi-Robot Formation Path Planning

被引：0

作者：

Wang L.-L. ^{[1
,2
]}

Sui Z.-Z. ^{[1
,2
]}

Pu Z.-Q. ^{[2
]}

Liu Z. ^{[2
]}

Yi J.-Q. ^{[2
]}

机构：

[1] School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing

[2] Institute of Automation, Chinese Academy of Sciences, Beijing

来源：

Tien Tzu Hsueh Pao/Acta Electronica Sinica | 2020年 / 48卷 / 11期

关键词：

Formation; Obstacle avoidance; Path planning; Rapidly-exploring random tree;

D O I：

10.3969/j.issn.0372-2112.2020.11.007

中图分类号：

学科分类号：

摘要：

Multi-robot path planning is one of the most attractive issues in the field of multiple robots.Compared with the algorithm for the single-robot path planning, the problem of multi-robot path planning, which takes obstacle avoidance and cooperation into account simultaneously, is more difficult and complex.Hence, a novel improved rapidly-exploring random tree algorithm for multi-robot formation path planning in this paper is proposed to address these obstacle avoidance and cooperation problems.The constraint condition of positional relationship is defined by modeling the multi-robot formation shape.Besides, the heading of formation is adjusted with the direction the exploring tree expands.Additionally, simulations are conducted for two different models of robots: the particle model and the non-holonomic constraint dynamic model.Simulation results are provided to demonstrate the effectiveness of the proposed algorithm. © 2020, Chinese Institute of Electronics. All right reserved.

引用

页码：2138 / 2145

页数：7

共 22 条

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