Cooperative path planning for mobile robots based on visibility graph

Yingchong Ma (1) , Gang Zheng (2, 1) , Wilfrid Perruquetti (1, 2, 3)

1 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
2 NON-A - Non-Asymptotic estimation for online systems
3 Centrale Lille

This paper presents a cooperative path planning approach for the navigation of nonholonomic mobile robots in environment with obstacles. Shared information can be obtained by sharing the local information between robots, thus the trajectories can be more optimized. Visibility graph approach is used to generate a series of intermediate objectives which guarantee the robots to reach the final objective without local minima. Then the reach of intermediate objectives is ensured by the optimal path planning algorithm. The velocity constraints, kinematic constraints and nonholonomic constraints of the mobile robot are considered in the problem.

Domaines: Automatique / Robotique

Yingchong Ma, Gang Zheng, Wilfrid Perruquetti. Cooperative path planning for mobile robots based on visibility graph. IEEE 32nd Chinese Control Conference, IEEE, Jul 2013, Xi'an, China. ⟨hal-00910186⟩