A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots

Authors:
Shuang Liu;Dong Sun;Changan Zhu;Wen Shang
Affiliations:
Suzhou Research Center of City University of Hong Kong and the University of Science and Technology of China, Suzhou, P. R. China;Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong, P. R. China;Department of Precision Machinery and Instrumentations, University of Science and Technology of China, Hefei, P. R. China;Suzhou Research Center of City University of Hong Kong, Suzhou, P. R. China
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system.