Abstract
In order to ensure the communication and a certain sensing coverage between robots on the path, the robots should not disperse excessively in an unknown environment. To make sure the multi-robot system can pass through the obstacle area safely and quickly during the marching process, a path planning approach based on improved RRT algorithm and fuzzy control algorithm is proposed. This approach with off-line planning and on-line quadric planning function adapts to plan a path on robots keeping formation for mobile multi-robot in an unknown environment. The simulation results indicate that the mobile multi-robot system based on this path planning can avoid obstacles and march to destination with special formation in majority scenes.
| Original language | English |
|---|---|
| Pages (from-to) | 86-91 |
| Number of pages | 6 |
| Journal | Jiqiren/Robot |
| Volume | 31 |
| Issue number | SUPPL. |
| Publication status | Published - Dec 2009 |
Keywords
- Avoid obstacle
- Keep formation
- Multi-robot
- Path planning