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Prioritized Multi-Robot Velocity Planning for Trajectory Coordination of Arbitrarily Complex Vehicle Structures

: Keppler, Felix; Wagner, Sebastian

Postprint urn:nbn:de:0011-n-5931124 (281 KByte PDF)
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Created on: 17.6.2020

Institute of Electrical and Electronics Engineers -IEEE-:
IEEE/SICE International Symposium on System Integration, SII 2020. Proceedings : Honolulu, Hawaii, USA, January 12-15, 2020
Piscataway, NJ: IEEE, 2020
ISBN: 978-1-7281-6668-1
ISBN: 978-1-7281-6667-4
International Symposium on System Integration (SII) <2020, Honolulu/Hawaii>
Conference Paper, Electronic Publication
Fraunhofer IVI ()
collision avoidance; Multi-Robot Systems; trajectory control; Kollisionsvermeidung; Trajektorienkontrolle

Prioritized planning is a widely used technique to coordinate motions of multiple robots along fixed paths. Velocity profiles are planned sequentially avoiding previously computed trajectories represented as dynamic obstacles. To derive these, the vehicle structures are usually approximated with simple shapes, which fails for complex robots like automated truck-trailer combinations. A novel method to derive the spatiotemporal conflict zones directly from arbitrarily complex geometries swept along pre-planned paths is proposed and it is shown that the resulting obstacles in the distance-time-space allow velocity planning with precise space utilization and short execution times.