A cell decomposition approach to cooperative path planning and collision avoidance via disjunctive programming

• Published in: 49th IEEE Conference on Decision and Control (CDC) pp. 6329 - 6336
• Main Authors: Swingler, Ashleigh, Ferrari, Silvia
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.12.2010
• Subjects: Approximation methods; Collision avoidance; Geometry; Path planning; Programming; Robot kinematics

This paper presents a novel approach for planning the minimum-distance path of multiple robotic vehicles with discrete geometries in an obstacle-populated workspace. The approach utilizes approximate cell decomposition to obtain a disjunctive program representation of C-obstacles for obstacles that...