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.
https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141
Contributeur : Florent Altché
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Soumis le : lundi 5 septembre 2016 - 14:35:23
Dernière modification le : lundi 12 novembre 2018 - 11:01:05
Archivage à long terme le : mardi 6 décembre 2016 - 13:36:58
Florent Altché, Xiangjun Qian, Arnaud de la Fortelle. Time-optimal Coordination of Mobile Robots along Specified Paths. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. ⟨hal-01360141⟩
