文章基本信息

标题：Towards heterogeneous robot team path planning: acquisition of multiple routes with a modified spline-based algorithm
本地全文：下载
作者：Roman Lavrenov ; Roman Lavrenov ; Evgeni Magid 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2017
卷号：113
页码：1-6
DOI：10.1051/matecconf/201711302015
语种：English
出版社：EDP Sciences
摘要：Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.