In this paper, we propose a computational trajectory generation algorithm for swarm mobile robots using local information in a dynamic environment. The algorithm plans a reference path based on constrained convex nonlinear optimization which avoids both static and dynamic obstacles. This algorithm is combined with one-step-ahead predictive control for a swarm of mobile robots to track the generated paths and reach the goals without collision. The numerical simulations and experimental results demonstrate the effectiveness of the proposed free-collision path planning algorithm.
No takes yet. Share an insight, caveat, or question.
Hedjar et al. (2014) studied this question.
Synapse has enriched 4 closely related papers on similar clinical questions. Consider them for comparative context: