Motion planning for cooperative unicycle-type mobile robots with limited sensing ranges: A distributed receding horizon approach

Authors:
Michael Defoort;Annemarie Kokosy;Thierry Floquet;Wilfrid Perruquetti;Jorge Palos
Affiliations:
LAMIH (UMR-CNRS 8530), Valenciennes University, 59313 Valenciennes, France;LAGIS (UMR-CNRS 8146), ISEN, 41 Boulevard Vauban, 59046 Lille, France;LAGIS (UMR-CNRS 8146), Ecole centrale de Lille, BP 48, Cité Scientifique, and INRIA Lille-Nord Europe, 59651 Villeneuve d'Ascq, France;LAGIS (UMR-CNRS 8146), Ecole centrale de Lille, BP 48, Cité Scientifique, and INRIA Lille-Nord Europe, 59651 Villeneuve d'Ascq, France;LAGIS (UMR-CNRS 8146), ISEN, 41 Boulevard Vauban, 59046 Lille, France
Venue:
Robotics and Autonomous Systems
Year:
2009

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Abstract

This paper presents a decentralized motion planner for a team of nonholonomic mobile robots subject to constraints imposed by sensors and the communication network. The motion planning scheme consists of decentralized receding horizon planners that reside on each vehicle to achieve coordination among flocking agents. The advantage of the proposed algorithm is that each vehicle only requires local knowledge of its neighboring vehicles. The main requirement for designing an optimal conflict-free trajectory in a decentralized way is that each robot does not deviate too far from its presumed trajectory designed without taking the coupling constraints into account. A comparative study between the proposed algorithm and other existing algorithms is provided in order to show the advantages, especially in terms of computing time. Finally, experiments are performed on a team of three mobile robots to demonstrate the validity of the proposed approach.