Kinematic path-planning for formations of mobile robots with a nonholonomic constraint

被引：0
|
作者：
Barfoot, TD [1 ]
Clark, CM [1 ]
Rock, SM [1 ]
D'Eleuterio, GMT [1 ]
机构：
[1] Univ Toronto, Toronto, ON, Canada
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002年
关键词：
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 method of planning paths for formations of mobile robots with nonholonomic. constraints is presented. The kinematics equations presented in this paper allow a general geometrical formation of mobile robots to be maintained while the group as a whole travels an arbitrary path. It is possible to represent a formation of mobile robots by a single entity with the same type of nonholonomic constraint as the individual members. Thus, any path-planner or control method may be used with the formation as would be applied to an individual robot. Equations are developed for changing the geometrical formation and hardware results are presented from the Stanford MARS Testbed.
引用
收藏
页码：2819 / 2824
页数：6
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