Open document
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General information |
| Author |
Garrido, Santiago; Moreno, Luis; Gómez, Javier V.; Lima, Pedro U. |
| Published |
InTech Open Access Publisher, 2013
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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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International Journal of Advanced Robotic Systems
Author: 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, [...]
Published: 2004
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