Publication:
Robot formation motion planning using Fast Marching

Simple item page
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.authorLima, Pedro U.
dc.date.accessioned2014-06-10T07:55:01Z
dc.date.available2014-06-10T07:55:01Z
dc.date.issued2011-09
dc.description.abstractThis paper presents the application of the Voronoi Fast Marching (VFM) method to path planning of mobile formation robots. The VFM method uses the propagation of a wave (Fast Marching) operating on the world model to determine a motion plan over a viscosity map (similar to the refraction index in optics) extracted from the updated map model. The computational efficiency of the method allows the planner to operate at high rate sensor frequencies. This method allows us to maintain good response time and smooth and safe planned trajectories. The navigation function can be classified as a type of potential field, but it has no local minima, it is complete (it finds the solution path if it exists) and it has a complexity of order n(O(n)), where n is the number of cells in the environment map. The results presented in this paper show how the proposed method behaves with mobile robot formations and generates trajectories of good quality without problems of local minima when the formation encounters non-convex obstacles.es
dc.description.sponsorshipThis work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid.es
dc.description.statusPublicadoes
dc.format.extent9 p.es
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationRobotics and Autonomous Systems (2011), 59(9), 675–683es
dc.identifier.doi10.1016/j.robot.2011.05.011
dc.identifier.issn0921-8890
dc.identifier.publicationfirstpage675es
dc.identifier.publicationissue9es
dc.identifier.publicationlastpage683es
dc.identifier.publicationtitleRobotics and autonomous systemsen
dc.identifier.publicationvolume59es
dc.identifier.urihttps://hdl.handle.net/10016/18968
dc.identifier.uxxiAR/0000009316
dc.language.isoenges
dc.publisherElsevieres
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 IIes
dc.relation.publisherversionhttp://dx.doi.org/10.1016/j.robot.2011.05.011es
dc.rights© 2011 Elsevier B.V.es
dc.rights.accessRightsopen accesses
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherRobot formation motion planningen
dc.subject.otherFormation controlen
dc.subject.otherFast Marchingen
dc.titleRobot formation motion planning using Fast Marchingen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
robot_garrido_moreno_RAS_2011_ps.pdf
Size:
1.74 MB
Format:
Adobe Portable Document Format
Download
Collections
DISA - LR - Artículos de Revistas