General path planning methodology for leader-follower robot formations Articles uri icon

publication date

  • January 2013

start page

  • 1

end page

  • 10


  • 64


  • 10

International Standard Serial Number (ISSN)

  • 1729-8806

Electronic International Standard Serial Number (EISSN)

  • 1729-8814


  • This paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave's distance from obstacles increases. This method provides smooth and safe trajectories and its computational efficiency allows us to maintain a good response time. The proposed method is based on a local-minima-free planner; it is complete and has an O(n) complexity order where n is the number of cells of the map. Simulation results show that the proposed algorithm generates good trajectories.


  • Robotics and Industrial Informatics


  • path planning; robot formation; fast marching