DocumentCode :
2126512
Title :
A decentralized approach for the conflict-free motion of multiple mobile robots
Author :
Azarm, Kianoush ; Schmidt, Günther
Author_Institution :
Dept. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Volume :
3
fYear :
1996
fDate :
4-8 Nov 1996
Firstpage :
1667
Abstract :
This article presents a novel approach to decentralized motion planning and conflict-resolution for multiple mobile robots. The proposed multirobot motion planning is an online operation, based on cost wave propagation within a discretized configuration space-time. By use of the planning method a framework for negotiation is developed, which permits quick decentralized and parallel decision-making. The key objective of the negotiation procedure is dynamic assignment of robot motion priorities. Thus, robots involved in a local conflict situation cooperate in planning and execution of the lowest cost motion paths without application of any centralized components. The features required for individual and cooperative motion are embedded in a hybrid control architecture. Results obtained from realistic simulation of a multirobot environment and also from experiments performed with two mobile robots demonstrate the flexibility and the efficiency of the proposed method
Keywords :
cooperative systems; decentralised control; mobile robots; path planning; conflict-free motion; conflict-resolution; cost wave propagation; decentralized motion planning; discretized configuration space-time; dynamic assignment; lowest cost motion paths; multiple mobile robots; multirobot environment; multirobot motion planning; negotiation procedure; parallel decision-making; robot motion priorities; Costs; Decision making; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot kinematics; Robot motion; Robot sensing systems; System recovery;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
Type :
conf
DOI :
10.1109/IROS.1996.569036
Filename :
569036
Link To Document :
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