Motion planning for formations of mobile robots |
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| Affiliation: | 1. Controls and Analysis Group, MD Robotics, 9445 Airport Road, Brampton, Ont., Canada L6S 4J3;2. Department of Aeronautics and Astronautics, Stanford University, Durand Building, 496 Lomita Mall, Stanford, CA 94305-4035, USA;1. Astronomical Observatory, Volgina 7, 11060 Belgrade, Serbia;2. J. L. Lagrange Laboratory, UMR 7293, Université de Nice Sophia Antipolis, CNRS, Observatoire de la Côte d’Azur, Campus Valrose, 06108 Nice, France;3. Department of Astronomy, Faculty of Mathematics, University of Belgrade, Studentski trg 16, 11000 Belgrade, Serbia;1. School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China;2. Data61 - CSIRO and Research School of Engineering, Australian National University, Canberra ACT 2601, Australia;3. School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, Republic of Korea;1. National ICT Australia and Research School of Engineering, Australian National University, Canberra, Australia;2. School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN, USA;3. Faculty of Mathematics and Natural Sciences, ENTEG, University of Groningen, The Netherlands |
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| Abstract: | This paper is concerned with planning the motion of mobile robots in formation, 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. |
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