A motion planner for multiple mobile robots

Author

Parsons, David ; Canny, John

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

fYear

1990

fDate

13-18 May 1990

Firstpage

8

Abstract

An algorithm is described for planning the motions of several mobile robots which share the same workspace. Each robot is capable of independent translational motion in two dimensions, and the workspace contains polygonal obstacles. The algorithm computes a path for each robot which avoids all obstacles in the workspace as well as the other robots. It is guaranteed to find a solution if one exists. The algorithm takes a cell decomposition approach, where the decomposition used is based on the idea of a product operation defined on the cells in a decomposition of a two-dimensional free space. This algorithm is being implemented for the case of two robots as part of ongoing research into useful algorithms for task-level programming of the RobotWorld system

Keywords

mobile robots; planning (artificial intelligence); position control; 2D free space; RobotWorld system; cell decomposition; mobile robots; motion planner; path planning; polygonal obstacles; task-level programming; Law; Legal factors; Mobile robots; Orbital robotics; Rails; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.125937

Filename

125937