Geometric motion planning and formation optimization for a fleet of nonholonomic wheeled mobile robots

R. Bhatt, Chin Pei Tang, V. Krovi
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
In this paper, we present a geometric method for motion planning for a fleet of differentially-driven wheeled mobile robots moving in formation, that explicitly takes in to account their nonholonomic constraints. The relative position within the formation induces different motion plans each individual wheeled mobile robot (WMR). We can quantitatively evaluate the performance of such induced motion plans using suitable metrics defined for the motions of each WMR. These performance metrics in
more » ... lative form or individual form are used to optimize the overall formation (i.e. their relative positions) for performing a given task. The approach is well suited for online implementation and is demonstrated using case studies.
doi:10.1109/robot.2004.1308759 dblp:conf/icra/BhattTK04 fatcat:sc7cjv75m5gefn2b5vtpdsqx3a