Towards heterogeneous robot team path planning: acquisition of multiple routes with a modified spline-based algorithm
Roman Lavrenov, Evgeni Magid · MATEC Web of Conferences · 2017
Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.