期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：1
页码：64
DOI：10.5772/53999
语种：English
出版社：SAGE Publications
摘要：This paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave's distance from obstacles increases. This method provides smooth and safe trajectories and its computational efficiency allows us to maintain a good response time. The proposed method is based on a local-minima-free planner; it is complete and has an O(n) complexity order where n is the number of cells of the map. Simulation results show that the proposed algorithm generates good trajectories.
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