Motion planning for formations of mobile robots

被引：145

作者：

Barfoot, TD

Clark, CM

机构：

[1] MD Robot, Controls & Anal Grp, Brampton, ON L6S 4J3, Canada

[2] Stanford Univ, Dept Aeronaut & Astronaut, Stanford, CA 94305 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2004年 / 46卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

motion planning; robot formations; mobile robots; non-holonomic constraint;

D O I：

10.1016/j.robot.2003.11.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is concerned with planning the motion of mobile robots information, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with non-holonomic constraints is presented. The kinematic equations developed allow a certain class of formations to be maintained while the group as a whole exhibits motion. The work was validated using the Stanford Micro-Autonomous RoverS Testbed. (C) 2003 Elsevier B.V. All rights reserved.

引用

页码：65 / 78

页数：14

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