Work

Time-optimal coordination of mobile robots along specified paths

Year: 2016

Type: conference-paper

Abstract: In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover, unlike previous work found in the literature, our formulation allows an exact linear modeling (up to the discretization resolution) of second-order dynamic constraints. Extensive simulations are performed to demonstrate the effectiveness of our approach.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros.2016.7759737

Authors: Florent Altche, Xiangjun Qian, Arnaud de La Fortelle

Institutions: Centre de Robotique, École Nationale Supérieure des Mines de Paris

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2301019454

FWCI: 1.762

Cites: 20

Cited by: 34

Related to: 10