This paper proposes a scheduling and trajectory planning method that constructs collision-free and optimized trajectories for a team of multiple robots. The proposed method consists of path planning and scheduling. First, each robot performs path planning using a state roadmap. Using a state roadmap, each robot can find a path that navigates the robot to the destination without collisions with static obstacles. Second, the scheduler adjusts the departing times and the velocities at the via-points of all robots to avoid collisions between the robots and to minimize the sum of arrival times of the robots. The proposed method is evaluated through simulations.
Multi-robot scheduling and trajectory planning using state roadmap
2014-09-01
1523044 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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