Abstract
The path planning and tracking problem of the multi-robot system (MRS) has always been a research hotspot and applied in various fields. In this article, a novel multi-robot path planning and tracking model (MPPTM) is proposed, which can carry out online path planning and tracking problem for multiple mobile robots. It considers many issues during this process, such as collision avoidance, and robot failure. The proposed approach consists of three parts: a neural dynamic path planner, a hyperbolic tangent path optimizer, and an error-driven path tracker. Assisted by Ultra-wideband positioning system, the proposed MPPTM is a low-cost solution for online path planning and high-accurate tracking of MRS in practical environments. In the proposed MPPTM, the proposed path planner has good time performance, and the proposed path optimizer improves tracking accuracy. The effectiveness, feasibility, and better performance of the proposed model are demonstrated by real experiments and comparative simulations.
Highlights
As the development of disciplines and technologies, robotics always involves numerous disciplines
Robotics has developed from a simple single robot system (SRS) to a complex multi-robot system (MRS)
For demonstrating the feasibility of the proposed multi-robot path planning and tracking model (MPPTM), online path planning and tracking experiments for multi-unmanned aerial vehicle (UAV) are designed
Summary
As the development of disciplines and technologies, robotics always involves numerous disciplines It covers many aspects from control, mechanics, electronics to communication, computer science, materials, and so forth. Path planning and tracking problem of MRS has always been a research hotspot and applied in various fields, including delivery (Chen et al, 2021), monitoring (Silic and Mohseni, 2019; Koutras et al, 2020), task assignment (Chen and Zhu, 2019; Wang et al, 2020b), target tracking (Zhou et al, 2018), and so on. The task-level research focuses on finding the optimal solution to the problem without considering the hardware conditions, which is top-down. It includes path planning of MRS and task assignment of MRS. Tracking the target or path with high accuracy is one of these
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