TY - GEN
T1 - Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach
AU - Filho, Jose M.Mendes
AU - Lucet, Eric
AU - Filliat, David
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/18
Y1 - 2018/12/18
N2 - This paper addresses the problem of motion planning for a multirobot system in a partially known environment where conditions such as uncertainty about robots' positions and communication delays are real. In particular, we detail the use of a Distributed Receding Horizon Approach that guarantees collision avoidance with static obstacles and between robots communicating with each other. Underlying optimization problems are solved by using a Sequential Least Squares Programming algorithm. Experiments with real nonholonomic mobile platforms are performed. The proposed framework is compared with the Dynamic Window approach to motion planning in a single robot setup. A second experiment shows results for a multirobot case using two robots where collision is avoided even in presence of significant localization uncertainties.
AB - This paper addresses the problem of motion planning for a multirobot system in a partially known environment where conditions such as uncertainty about robots' positions and communication delays are real. In particular, we detail the use of a Distributed Receding Horizon Approach that guarantees collision avoidance with static obstacles and between robots communicating with each other. Underlying optimization problems are solved by using a Sequential Least Squares Programming algorithm. Experiments with real nonholonomic mobile platforms are performed. The proposed framework is compared with the Dynamic Window approach to motion planning in a single robot setup. A second experiment shows results for a multirobot case using two robots where collision is avoided even in presence of significant localization uncertainties.
UR - https://www.scopus.com/pages/publications/85060791911
U2 - 10.1109/ICARCV.2018.8581365
DO - 10.1109/ICARCV.2018.8581365
M3 - Conference contribution
AN - SCOPUS:85060791911
T3 - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
SP - 1640
EP - 1646
BT - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Y2 - 18 November 2018 through 21 November 2018
ER -