Details
| Original language | English |
|---|---|
| Title of host publication | 2022 IEEE 18th International Conference on Automation Science and Engineering, CASE 2022 |
| Publisher | IEEE Computer Society |
| Pages | 1417-1422 |
| Number of pages | 6 |
| ISBN (electronic) | 9781665490429 |
| ISBN (print) | 978-1-6654-9043-6 |
| Publication status | Published - 2022 |
| Event | 18th IEEE International Conference on Automation Science and Engineering, CASE 2022 - Mexico City, Mexico Duration: 20 Aug 2022 → 24 Aug 2022 |
Publication series
| Name | IEEE International Conference on Automation Science and Engineering |
|---|---|
| Volume | 2022-August |
| ISSN (Print) | 2161-8070 |
| ISSN (electronic) | 2161-8089 |
Abstract
This paper presents an approach for smooth trajectory planning in semi-rigid nonholonomic mobile robot formations using Bezier-splines. Unlike most existing approaches, the focus is on maintaining a semi-rigid formation, as required in many scenarios such as object transport, handling or assembly. We use a Relaxed A∗ planner to create an optimal collision-free global path and then smooth this path using splines. The smoothed global path serves to create target paths for every robot in the formation. From these paths, we then calculate the trajectories for each robot. In an iterative process, we match the velocities of the robots so that all trajectories are synchronized, and the dynamic limits of all robots are maintained. We provide experimental validation, which confirms no violation of the dynamic limits and shows an excellent control performance for a system of three robots moving at 0.3 m/s.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
2022 IEEE 18th International Conference on Automation Science and Engineering, CASE 2022. IEEE Computer Society, 2022. p. 1417-1422 (IEEE International Conference on Automation Science and Engineering; Vol. 2022-August).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Smooth Spline-based Trajectory Planning for Semi-Rigid Multi-Robot Formations
AU - Recker, Tobias
AU - Lurz, Henrik
AU - Raatz, Annika
PY - 2022
Y1 - 2022
N2 - This paper presents an approach for smooth trajectory planning in semi-rigid nonholonomic mobile robot formations using Bezier-splines. Unlike most existing approaches, the focus is on maintaining a semi-rigid formation, as required in many scenarios such as object transport, handling or assembly. We use a Relaxed A∗ planner to create an optimal collision-free global path and then smooth this path using splines. The smoothed global path serves to create target paths for every robot in the formation. From these paths, we then calculate the trajectories for each robot. In an iterative process, we match the velocities of the robots so that all trajectories are synchronized, and the dynamic limits of all robots are maintained. We provide experimental validation, which confirms no violation of the dynamic limits and shows an excellent control performance for a system of three robots moving at 0.3 m/s.
AB - This paper presents an approach for smooth trajectory planning in semi-rigid nonholonomic mobile robot formations using Bezier-splines. Unlike most existing approaches, the focus is on maintaining a semi-rigid formation, as required in many scenarios such as object transport, handling or assembly. We use a Relaxed A∗ planner to create an optimal collision-free global path and then smooth this path using splines. The smoothed global path serves to create target paths for every robot in the formation. From these paths, we then calculate the trajectories for each robot. In an iterative process, we match the velocities of the robots so that all trajectories are synchronized, and the dynamic limits of all robots are maintained. We provide experimental validation, which confirms no violation of the dynamic limits and shows an excellent control performance for a system of three robots moving at 0.3 m/s.
UR - http://www.scopus.com/inward/record.url?scp=85141743121&partnerID=8YFLogxK
U2 - 10.15488/13413
DO - 10.15488/13413
M3 - Conference contribution
AN - SCOPUS:85141743121
SN - 978-1-6654-9043-6
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1417
EP - 1422
BT - 2022 IEEE 18th International Conference on Automation Science and Engineering, CASE 2022
PB - IEEE Computer Society
T2 - 18th IEEE International Conference on Automation Science and Engineering, CASE 2022
Y2 - 20 August 2022 through 24 August 2022
ER -