RT Journal Article
T1 General Path Planning Methodology for Leader-Follower Robot Formations
A1 Garrido Bullón, Luis Santiago
A1 Moreno Lorente, Luis Enrique
A1 Gómez González, Javier Victorio
A1 Lima, Pedro U.
AB This 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.
SN 1729-8806
YR 2013
FD 2013-01-01
LK https://hdl.handle.net/10016/18690
UL https://hdl.handle.net/10016/18690
LA eng
NO Comunidad de Madrid
DS e-Archivo
RD 19 may. 2024