A motion planning framework with connectivity management for multiple cooperative robots

  • Defoort M
  • Veluvolu K
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Abstract

This paper proposes a decentralized motion planning algorithm for multiple coopera-tive robots subject to constraints imposed by sen-sors and the communication network. It consists of decentralized receding horizon planners that reside on each vehicle to navigate to individual target positions. A routing algorithm which mod-ify the network topology based on the position of the robots and the limited range of transmitters and receivers, enables to reduce the communica-tion link failures. A comparative study between the proposed algorithm and other existing algo-rithms is provided in order to show the advantages especially in terms of traveling time and commu-nication link failure. Nomenclature N Number of robots p n (t) Position vector of robot A n v n (t) Velocity vector of robot A n a n (t) Acceleration vector of robot A n R n Zone of robot A n ¯ R n Communication range of robot A n u n,max Maximum speed of robot A n a n,max Maximum acceleration of robot A n Layer[n] Layer of robot A n Access[n] Access robot of robot A n U pdate[n]-Number of database update of A n C n,com (t) Communication conflict subset of robot A n C n,col (t) Collision conflict subset of robot A n N n (t) Neighboring subset of robot A n t ini Initial time t k Receding horizon update of the planned trajectory T s Update period of the network graph T c Update period of the planned trajectory T p Planning horizon p n (t, t k) Predicted trajectory of robot A n on [t k , t k + T p ] P n (t k) Optimization problem for robot A n on [t k , t k + T c [ C n, j Design coefficients of the B-spline curve for robot A n B j,3 Three-order B-spline basis function 344 J Intell Robot Syst (2014) 75:343–357

Author-supplied keywords

  • Collision avoidance
  • Motion planning
  • Network connectivity
  • Receding horizon control
  • Routing algorithm

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