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Time-optimal Coordination of Mobile Robots along Specified Paths
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.
Littérature citée [18 références]
https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141
Contributeur : Florent Altché <>
Soumis le : lundi 5 septembre 2016 - 14:35:23
Dernière modification le : vendredi 6 mars 2020 - 01:16:18
Document(s) archivé(s) le : mardi 6 décembre 2016 - 13:36:58
Contributeur : Florent Altché <>
Soumis le : lundi 5 septembre 2016 - 14:35:23
Dernière modification le : vendredi 6 mars 2020 - 01:16:18
Document(s) archivé(s) le : mardi 6 décembre 2016 - 13:36:58
Fichier
iros2016.pdf
Fichiers produits par l'(les) auteur(s)
