Institute of Assembly Technology and Robotics Research Publications
Smooth Spline-based Trajectory Planning for Semi-Rigid Multi-Robot Formations

Smooth Spline-based Trajectory Planning for Semi-Rigid Multi-Robot Formations

Categories Konferenz (reviewed)
Year 2022
Authors Recker, T., Lurz, H.; Raatz, A.
Published in 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), pp. 1417-142

This paper presents an approach for smooth trajectory planning in semi-rigid nonholonomic mobile robot formations using Bezi´er-splines. Unlike most existing approaches, the focus is on maintaining a semi-rigid formation, as required in many scenarios such as object transport, handling or assembly. We use a Relaxed A* planner to create an optimal collisionfree global path and then smooth this path using splines. The smoothed global path serves to create target paths for every robot in the formation. From these paths, we then calculate the trajectories for each robot. In an iterative process, we match the velocities of the robots so that all trajectories are synchronized, and the dynamic limits of all robots are maintained. We provide experimental validation, which confirms no violation of the dynamic limits and shows an excellent control performance for a system of three robots moving at 0.3 m/s.

DOI 10.1109/CASE49997.2022.9926604
More info