Garrido Bullón, Luis SantiagoMoreno Lorente, Luis EnriqueLima, Pedro U.2014-06-102014-06-102011-09Robotics and Autonomous Systems (2011), 59(9), 675–6830921-8890https://hdl.handle.net/10016/18968This 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.9 p.application/pdfeng© 2011 Elsevier B.V.Robot formation motion planningFormation controlFast Marchingresearch articleRobótica e Informática Industrial10.1016/j.robot.2011.05.011open access6759683Robotics and autonomous systems59AR/0000009316