DocumentCode :
3288810
Title :
An improved neuro-dynamics-based approach to online path planning for multi-robots in unknown dynamic environments
Author :
Xin Yi ; Anmin Zhu
Author_Institution :
Sch. of Comput. Sci. & Software Eng., Shenzhen Univ., Shenzhen, China
fYear :
2013
fDate :
12-14 Dec. 2013
Firstpage :
1
Lastpage :
6
Abstract :
Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings. In this paper, an improved neuro-dynamics-based method is proposed with advantages. It has conducted efficient performance and easier realization with much less computational time complexity. Meanwhile, by entering “repulsion” mechanism, the improved method is capable of fair allocation and load balancing on the limited resources. Both simulated experiments and theoretical analysis demonstrate the feasibility and availability of the improved method in the paper.
Keywords :
mobile robots; multi-robot systems; path planning; computational time complexity; fair allocation; load balancing; multirobots; neuro-dynamics-based method; online path planning; real-time path planning; real-time processing; repulsion mechanism; robotics; unknown dynamic environments; Biological neural networks; Mathematical model; Multi-robot systems; Neurons; Path planning; Real-time systems; Robots; multi-robots; neurodynamics; online path planing; unknow environments;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
Type :
conf
DOI :
10.1109/ROBIO.2013.6739426
Filename :
6739426
Link To Document :
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