Time-optimal Coordination of Mobile Robots along Specified Paths
Robotics
2017-04-06 v3
Abstract
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover, unlike previous work found in the literature, our formulation allows an exact linear modeling (up to the discretization resolution) of second-order dynamic constraints. Extensive simulations are performed to demonstrate the effectiveness of our approach.
Cite
@article{arxiv.1603.04610,
title = {Time-optimal Coordination of Mobile Robots along Specified Paths},
author = {Florent Altché and Xiangjun Qian and Arnaud de La Fortelle},
journal= {arXiv preprint arXiv:1603.04610},
year = {2017}
}
Comments
Published in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)