Print Email Facebook Twitter Distributed Model Predictive Contouring Control for Real-Time Multi-Robot Motion Planning Title Distributed Model Predictive Contouring Control for Real-Time Multi-Robot Motion Planning Author Xin, Jianbin (Zhengzhou University) Qu, Yaoguang (Zhengzhou University) Zhang, Fangfang (Zhengzhou University) Negenborn, R.R. (TU Delft Transport Engineering and Logistics) Date 2022 Abstract Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance. This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control (MPCC). MPCC allows separating the tracking accuracy and productivity, to improve productivity better than the traditional Model Predictive Control (MPC) which follows a time-dependent reference. In the proposed distributed MPCC, each robot exchanges the predicted paths of the other robots and generates the collision-free motion in a parallel manner. The proposed distributed MPCC method is tested in industrial operation scenarios in the robot simulation platform Gazebo. The simulation results show that the proposed distributed MPCC method realizes real-time multi-robot motion planning and performs better than three commonly-used planning methods (dynamic window approach, MPC, and prioritized planning). Subject multi-robot systempath planningmodel predictive contouring controldistributed optimization To reference this document use: http://resolver.tudelft.nl/uuid:bbd59b44-5556-42d2-8330-7657e16d0b33 DOI https://doi.org/10.23919/CSMS.2022.0017 ISSN 2096-9929 Source Complex System Modeling and Simulation, 2 (4), 273-287 Part of collection Institutional Repository Document type journal article Rights © 2022 Jianbin Xin, Yaoguang Qu, Fangfang Zhang, R.R. Negenborn Files PDF Distributed_Model_Predict ... anning.pdf 9.7 MB Close viewer /islandora/object/uuid:bbd59b44-5556-42d2-8330-7657e16d0b33/datastream/OBJ/view