Towards An Adaptive Trajectory Planning Approach For Collaborative Mobile Robots

Journal article published in 2005 by Philippe Fraisse, Arturo Gil-Pinto, René Zapata, David Andreu

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This work studies and proposes remote control architecture for a set of nonholonomic robotic vehicles. We used a new decentralized control strategy such strategy permits each vehicle to independently compute its trajectory based on the Leader-Follower principle, both the leader and the follower GPS information, and the signal level of the wireless communication reception. We incorporate a reactive term in the path planning process based on the Deformable Virtual Zones (DVZ) that modifies the path of each robot for a given ultrasound sensor information of each robot in order to get away from obstacles.