Integration of planning and control in robotic formations

Ngo, VT; Nguyen, AD; Ha, QP

Integration of planning and control in robotic formations

Ngo, VT Nguyen, AD Ha, QP

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005, 2005
Issue Date:: 2005-12-01

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Field	Value	Language
dc.contributor.author	Ngo, VT	en_US
dc.contributor.author	Nguyen, AD	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2005-12-01	en_US
dc.identifier.citation	Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005, 2005	en_US
dc.identifier.isbn	0958758379	en_US
dc.identifier.isbn	9780958758376	en_US
dc.identifier.uri	http://hdl.handle.net/10453/7219
dc.description.abstract	This paper is devoted to planning and control of a pattern formation of mobile robots when moving between goal points in a known and static environment. Path planning is performed for a reference point in the formation using the modified A* search, coupled with a proposed smoothing technique to generate a feasible trajectory with nonholonomic constraints of mobile robots taken into account. Based on this reference trajectory and the predefined formation configuration in curvilinear coordinates, each robot in the formation computes its trajectory. Formation motion control is then integrated in the proposed framework to derive velocity profiles for robots in the group, taking into account differential geometry of the trajectories. Obstacle avoidance is guaranteed by varying the coordinates of those robots that are likely in collision with obstacles relative to the reference one. Simulation results are presented to illustrate the validity of the proposed framework.	en_US
dc.relation.ispartof	Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005	en_US
dc.title	Integration of planning and control in robotic formations	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	Sydney, Australia	en_US
dc.location.activity	Fremantle, Australia
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

This paper is devoted to planning and control of a pattern formation of mobile robots when moving between goal points in a known and static environment. Path planning is performed for a reference point in the formation using the modified A* search, coupled with a proposed smoothing technique to generate a feasible trajectory with nonholonomic constraints of mobile robots taken into account. Based on this reference trajectory and the predefined formation configuration in curvilinear coordinates, each robot in the formation computes its trajectory. Formation motion control is then integrated in the proposed framework to derive velocity profiles for robots in the group, taking into account differential geometry of the trajectories. Obstacle avoidance is guaranteed by varying the coordinates of those robots that are likely in collision with obstacles relative to the reference one. Simulation results are presented to illustrate the validity of the proposed framework.

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http://hdl.handle.net/10453/7219