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Motion Planning for Formations of Mobile Robots

T. D. Barfoot, MD Robotics
Christopher M. Clark, Stanford University

Article comments

Copyright © 2004 Elsevier B.V. All rights reserved. The definitive version is available at http://dx.doi.org/10.1016/j.robot.2003.11.004.

NOTE: At the time of publication, the author Christopher Clark was not yet affiliated with Cal Poly.

Abstract

This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with non-holonomic constraints is presented. The kinematic equations developed allow a certain class of formations to be maintained while the group as a whole exhibits motion. The work was validated using the Stanford Micro-Autonomous RoverS Testbed.

Suggested Citation

T. D. Barfoot and Christopher M. Clark. "Motion Planning for Formations of Mobile Robots" Robotics and Autonomous Systems 46.2 (2004): 65-78.
Available at: http://works.bepress.com/cmclark/21