This paper introduces a motion planning system for real-time control of multiple high performance robots in dynamic and unpredictable domains. It consists of a randomized realtime path planner, a bounded acceleration motion control system, and a randomized velocity-space search for collision avoidance of multiple moving robots. The realtime planner ignores dynamics, simplifying planning, while the motion control ignores obstacles, allowing a closed form solution. This allows up to five robots to be controlled 60 times per second, but collisions can arise due to dynamics. Thus a randomized search is performed in the robot's velocity space to find a safe action which satisfies both obstacle and dynamics constraints. The system has been fully implemented, and empirical results are presented. © 2005 Springer.
CITATION STYLE
Bruce, J., & Veloso, M. (2005). Real-time multi-robot motion planning with safe dynamics. In Multi-Robot Systems. From Swarms to Intelligent Automata - Proceedings from the 2005 International Workshop on Multi-Robot Systems (Vol. 3, pp. 159–170). Kluwer Academic Publishers. https://doi.org/10.1007/1-4020-3389-3_13
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