A new path planning method for multi-robot formation in three-dimensional space
- DOI
- 10.2991/icsma-16.2016.83How to use a DOI?
- Keywords
- Three-dimensional space; Multi-robot; Formation control; Tangent circle method
- Abstract
Aimed at the formation of multi-robot in 3D space, a new path planning method was proposed based on the market auction method and tangent circle method. This method makes use of the market auction method to allocate tasks so that the robot can obtain the coordinates of each task in the low energy consumption and low cost condition of the system. The traditional tangent circle method was improved, and a tangent circle method was proposed to plan the motion path of each robot, and finally form the formation shape and made the robot have the same attitude. The space tetrahedron formation which is formed by four robots is taken as an example for simulation, the results show that the method can realize the path planning of multi-robot formation and the motion attitude control of the robot in three-dimensional space.
- Copyright
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Quan Zuo AU - Ming Chu AU - Yukun Ding AU - Long Ma AU - Hanxu Sun PY - 2016/12 DA - 2016/12 TI - A new path planning method for multi-robot formation in three-dimensional space BT - Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016) PB - Atlantis Press SP - 469 EP - 480 SN - 1951-6851 UR - https://doi.org/10.2991/icsma-16.2016.83 DO - 10.2991/icsma-16.2016.83 ID - Zuo2016/12 ER -