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Analytical Solution for the Fixed-Path Coordination of Two Mobile Robots

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CONTROLO 2022 (CONTROLO 2022)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 930))

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Abstract

The paper studies the coordination task for two mobile robots moving along linear paths to obtain minimal motion time without collisions. The problem is solved using maximum velocity based parameterization and coordination diagram approach. The properties of the parameterization and analytical formula of the collision zone are used to obtain the template of the optimal coordination and formulas to calculate points of switch between motion modes.

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Acknowledgements

This research was supported by the National Science Centre, Poland, under the project number 2016/23/B/ST7/01441.

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Authors and Affiliations

  1. Department of Cybernetics and Robotics, Wrocław University of Science and Technology, Wyb. Wyspiańskiego 27, 50-370, Wrocław, Poland

    Janusz Jakubiak

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  1. Janusz Jakubiak
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Correspondence to Janusz Jakubiak .

Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering Department, NOVA School of Science and Technology, NOVA University Lisbon, Caparica, Portugal

    Luís Brito Palma

  2. Electrical and Computer Engineering Department, NOVA School of Science and Technology, NOVA University Lisbon, Caparica, Portugal

    Rui Neves-Silva

  3. Electrical and Computer Engineering Department, NOVA School of Science and Technology, NOVA University Lisbon, Caparica, Portugal

    Luís Gomes

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Jakubiak, J. (2022). Analytical Solution for the Fixed-Path Coordination of Two Mobile Robots. In: Brito Palma, L., Neves-Silva, R., Gomes, L. (eds) CONTROLO 2022. CONTROLO 2022. Lecture Notes in Electrical Engineering, vol 930. Springer, Cham. https://doi.org/10.1007/978-3-031-10047-5_9

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