Publication:
General Path Planning Methodology for Leader-Follower Robot Formations

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.authorGómez González, Javier Victorio
dc.contributor.authorLima, Pedro U.
dc.date.accessioned2014-03-31T09:54:25Z
dc.date.available2014-03-31T09:54:25Z
dc.date.issued2013-01-01
dc.description.abstractThis paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave's distance from obstacles increases. This method provides smooth and safe trajectories and its computational efficiency allows us to maintain a good response time. The proposed method is based on a local-minima-free planner; it is complete and has an O(n) complexity order where n is the number of cells of the map. Simulation results show that the proposed algorithm generates good trajectories.es
dc.description.sponsorshipComunidad de Madrides
dc.format.extent10 p.es
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationInternational Journal of Advanced Robotic Systems, 2013, 10(64), 10 p.es
dc.identifier.doi10.5772/53999
dc.identifier.issn1729-8806
dc.identifier.publicationissue64es
dc.identifier.publicationtitleInternational Journal of Advanced Robotic Systemses
dc.identifier.publicationvolume10es
dc.identifier.urihttps://hdl.handle.net/10016/18690
dc.identifier.uxxiAR/0000013113
dc.language.isoenges
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 IIes
dc.relation.publisherversionhttp://dx.doi.org/10.5772/53999
dc.rightsAtribución 3.0 España*
dc.rights© 2013 The authors; licensee InTeches
dc.rights.accessRightsopen accesses
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.titleGeneral Path Planning Methodology for Leader-Follower Robot Formationses
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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