General Path Planning Methodology for Leader-Follower Robot Formations. (23rd January 2013)

• Record Type: Journal Article
• Authors: Garrido, Santiago; Moreno, Luis; Gómez, Javier V.; Lima, Pedro U.
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 1(2013)
• Publication Date: 2013-01-23
• Subjects: Path Planning Robot Formation -- Fast Marching; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/53999
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave's distance from obstacles increases. This method provides smooth and safe trajectories and its computational efficiency allows us to maintain a good response time. The proposed method is based on a local-minima-free planner; it is complete and has an O(n) complexity order where n is the number of cells of the map. Simulation results show that the proposed algorithm generates good trajectories.