Details
| Original language | English |
|---|---|
| Title of host publication | 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE) |
| Publisher | IEEE Computer Society |
| ISBN (electronic) | 9798350320695 |
| ISBN (print) | 9798350320701 |
| Publication status | Published - 2023 |
| Event | 19th IEEE International Conference on Automation Science and Engineering, CASE 2023 - Auckland, New Zealand Duration: 26 Aug 2023 → 30 Aug 2023 |
Publication series
| Name | IEEE International Conference on Automation Science and Engineering |
|---|---|
| ISSN (Print) | 2161-8070 |
| ISSN (electronic) | 2161-8089 |
Abstract
In this paper, we propose a novel approach for execution and planning-time efficient path planning for a formation of robots moving in complex indoor environments. Our approach combines the Voronoi Diagram (VD) with spline-based path planning to create smooth paths with limited curvature. We also incorporate free spaces into the VD to reduce the maximum curvature of the paths. Due to the high obstacle clearance enabled by VDs and the reduced curvature, we can reach higher velocities, given a permissible control error. Our simulation evaluation uses 200 randomly generated paths and compares the results with a splined Relaxed A* path planner. Our method saves several seconds for a 70-meter-long path with significantly reduced tracking error. These results demonstrate the potential of our approach for time-efficient path planning in complex indoor environments.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). IEEE Computer Society, 2023. (IEEE International Conference on Automation Science and Engineering).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Time-Efficient Path Planning for Semi-Rigid Multi-Robot Formations
AU - Recker, Tobias
AU - Prophet, Sönke
AU - Raatz, Annika
N1 - Funding Information: This work was supported by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under grant no. 414265976 All authors are with the Institute of Assembly Technology, University of Hanover, 30823 Garbsen, Germany
PY - 2023
Y1 - 2023
N2 - In this paper, we propose a novel approach for execution and planning-time efficient path planning for a formation of robots moving in complex indoor environments. Our approach combines the Voronoi Diagram (VD) with spline-based path planning to create smooth paths with limited curvature. We also incorporate free spaces into the VD to reduce the maximum curvature of the paths. Due to the high obstacle clearance enabled by VDs and the reduced curvature, we can reach higher velocities, given a permissible control error. Our simulation evaluation uses 200 randomly generated paths and compares the results with a splined Relaxed A* path planner. Our method saves several seconds for a 70-meter-long path with significantly reduced tracking error. These results demonstrate the potential of our approach for time-efficient path planning in complex indoor environments.
AB - In this paper, we propose a novel approach for execution and planning-time efficient path planning for a formation of robots moving in complex indoor environments. Our approach combines the Voronoi Diagram (VD) with spline-based path planning to create smooth paths with limited curvature. We also incorporate free spaces into the VD to reduce the maximum curvature of the paths. Due to the high obstacle clearance enabled by VDs and the reduced curvature, we can reach higher velocities, given a permissible control error. Our simulation evaluation uses 200 randomly generated paths and compares the results with a splined Relaxed A* path planner. Our method saves several seconds for a 70-meter-long path with significantly reduced tracking error. These results demonstrate the potential of our approach for time-efficient path planning in complex indoor environments.
UR - http://www.scopus.com/inward/record.url?scp=85174399024&partnerID=8YFLogxK
U2 - 10.1109/CASE56687.2023.10260434
DO - 10.1109/CASE56687.2023.10260434
M3 - Conference contribution
AN - SCOPUS:85174399024
SN - 9798350320701
T3 - IEEE International Conference on Automation Science and Engineering
BT - 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)
PB - IEEE Computer Society
T2 - 19th IEEE International Conference on Automation Science and Engineering, CASE 2023
Y2 - 26 August 2023 through 30 August 2023
ER -