Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)

A new path planning method for multi-robot formation in three-dimensional space

Authors
Quan Zuo, Ming Chu, Yukun Ding, Long Ma, Hanxu Sun
Corresponding Author
Quan Zuo
Available Online December 2016.
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/).

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Volume Title
Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)
Series
Advances in Intelligent Systems Research
Publication Date
December 2016
ISBN
10.2991/icsma-16.2016.83
ISSN
1951-6851
DOI
10.2991/icsma-16.2016.83How to use a DOI?
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  -