Title :
Physical Path Planning Using the GNATs
Author :
O´Hara, Keith J. ; Bigio, Victor L. ; Dodson, Eric R. ; Irani, Arya J. ; Walker, Daniel B. ; Balch, Tucker R.
Author_Institution :
The BORG Lab College of Computing Georgia Institute of Technology Atlanta, Georgia 30332–0250; Email: kjohara@cc.gatech.edu
Abstract :
We continue our investigation into the application of pervasive, embedded networks to support multi-robot tasks. In this work we use a new a hardware platform, the GNATs, to aid in path planning. We have implemented a physical path planning algorithm on the GNATs previously studied in simulation. A distributed version of the wavefront path planning algorithm is used to propagate paths throughout the network, thereby planning a path in the real world. This creates a graph of traversable paths that are nearly optimal in a dynamic environment.
Keywords :
Multi-Robot Systems; Path Planning; Sensor Networks; Computer networks; Embedded computing; Hardware; Mobile communication; Mobile robots; Multirobot systems; Navigation; Path planning; Pervasive computing; Robot kinematics; Multi-Robot Systems; Path Planning; Sensor Networks;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570201
