Multiple Mobile Robot Path Planning for Rollover Prevention and Collision Avoidance

被引：0

作者：

Park, Jae Byung ^{[1
]}

机构：

[1] Chonbuk Natl Univ, Div Elect Engn, Jeollabuk Do 561756, South Korea

来源：

2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2011年

关键词：

Rollover prevention; Collision avoidance; Multiple mobile robots;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A multiple mobile robot path planning method is proposed for both rollover prevention and collision avoidance. The proposed method consists of two steps such as rollover-free path generation and collision avoidance among multiple mobile robots. In the first step, the smooth path without rollover is generated by using the sequential Hermite curves, taking intrinsic constraints of the mobile robots into consideration. In the next step, the departure time of every mobile robot is determined for collision avoidance among mobile robots using the extended collision map. Finally, the simulation is carried out with multiple mobile robots for verifying the efficiency of the proposed method.

引用

页码：1732 / 1734

页数：3