engleski

Minimum Startup Delay Approach to Coordination of Multiple Mobile Robots Motion Along Predefined Paths

This paper is concerned with the collision free motion coordination of multiple mobile robots sharing the same workspace. To successfully coordinate motion of multiple mobile robots, a common approach is to assign priority level to each mobile robot. A mobile robot with highest priority takes into account only static obstacles while other mobile robots have to take into account also dynamic obstacles, which are the mobile robots with higher priorities. In this paper we propose a method for dynamic obstacles avoidance based on avoiding time-obstacles in the collision map. A mobile robot efficiently avoids the timeobstacles by inserting minimum needed startup delay time of its original trajectory along the predefined path. By applying the same principle to all lower priority robots a collision free motion coordination of multiple mobile robots can be achieved. A proposed method is fast and more intuitive then delaying nonlinear traveling length versus sampling time curve or mixed integer linear programming formulation, which checks overlap between two intervals of any collision-time interval pair.

Multiple Mobile Robots ; Cooperative Control ; Time Optimal Motion Planning

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