MULTI-ROBOT MOTION PLANNING: A MODIFIED RECEDING HORIZON APPROACH FOR REACHING GOAL STATES

Abstract

This paper proposes the real-time implementation of an algorithm for collision-free motion planning based on a receding horizon approach, for the navigation of a team of mobile robots in presence of obstacles of different shapes. The method is simulated with three robots. Impact of parameters is studied with regard to computation time, obstacle avoidance and travel time.

Keywords

• multi-robot motion planning
• nonholonomic mobile robot
• distributed planning
• receding horizon