Time-optimal Coordination of Mobile Robots along Specified Paths

Florent Altché (1) , Xiangjun Qian (1) , Arnaud de La Fortelle (1)

1 CAOR - Centre de Robotique

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.

Domaines: Automatique / Robotique

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⟩