Motion planning for formations of mobile robots
نویسندگان
چکیده
This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with nonholonomic constraints is presented. The kinematic equations developed allow a certain class of formations to be maintained while the group as a whole exhibits motion. The work was validated using the Stanford Micro-Autonomous Rovers Testbed.
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عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 46 شماره
صفحات -
تاریخ انتشار 2004