A Path Planning and Tracking Control Algorithm for Multi-Autonomous Mobile Robot Systems Based on Spatiotemporal Conflicts and Nonholonomic Constraints

Abstract

This paper proposes a path planning and tracking control algorithm for multi-autonomous mobile robot (multi-AMR) systems that addresses the challenges posed by AMRs with a kinematic model. The proposed path planning algorithm is divided into two layers. The upper layer of the algorithm detects spatiotemporal conflicts between the paths of any two AMRs using a spatiotemporal conflict detection tree and the Separating Axis Theorem. The lower layer of the algorithm takes into account the kinematic model of the AMRs, ensuring that the generated paths satisfy the nonholonomic constraints. Furthermore, the lower layer introduces weighted adjustments to the heuristic evaluation, significantly improving the efficiency of the planning process. The proposed tracking control algorithm accounts for the kinematic model of AMRs and various constraints, achieving precise path tracking through model predictive control. The simulation results demonstrate that the proposed path planning and tracking control algorithm can efficiently generate conflict-free paths and achieve precise tracking control that satisfies the nonholonomic constraints of multi-AMR systems.