Research Article
Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination
Input: Start and end poses and , respectively. Unknown path , a known path , motion time and , and | number of divided time interval , temporary time variable . | Output: Parameters , , and which are used to represent the path of . | Begin | = 0; | foreach of do | ; | end foreach | foreach in the set of multiple mobile robots | Map motion time interval of into with the multiples of . | Map constraints of kinematics and obstacle-avoidance of into corresponding forms with respect to [0, /]. | end foreach | Modify the objective function with all the adjustments, then reach the newly TNLPPs named . | Call | foreach do | Multiples , , and with . | end foreach | return , , and . | End |
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