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General Path Planning Methodology for Leader-Follower Robot Formations : Metodologia generale per la pianificazione di traiettorie per formazioni di robot leader-follower, in: International Journal of Advanced Robotic Systems

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Autore Garrido, Santiago; Moreno, Luis; Gómez, Javier V.; Lima, Pedro U.
Pubblicato  InTech Open Access Publisher, 2013
edizione  
Volume  
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Abstract This paper describes a robust algorithm for
mobile robot formations based on the Voronoi Fast
Marching path planning method. This is based on the
propagation of a wave throughout the model of the
environment, the wave expanding faster as the wave’s
distance from obstacles increases. This method provides
smooth and safe trajectories and its computational
efficiency allows us to maintain a good response time.
The proposed method is based on a local‐minima‐free
planner; it is complete and has an complexity order
where is the number of cells of the map. Simulation
results show that the proposed algorithm generates good
trajectories.
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Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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Documents: International Journal of Advanced Robotic Systems
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Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32472009.html
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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