A decentralized approach to the conflict-free motion planning for multiple mobile robots

Author

Chun, Li ; Zheng, Zhiqiang ; Chang, Wensen

Author_Institution

Dept. of Autom. Control, Changsha Inst. of Technol., Hunan, China

Volume

2

fYear

1999

fDate

1999

Firstpage

1544

Abstract

Presents a decentralized approach to the conflict-free motion planning for multiple mobile robots. We decompose the problem into global path planning and local path planning. AI techniques are used to solve the global planning problem and we obtain an optimal global path. From the point of view of combining AI techniques with a real-time control technique; a dynamic sub-goal algorithm is put forward to solve the local planning problem for the multi-robot system. The simulation results show the efficiency of the algorithm for real-time multi-robot cooperation

Keywords

cooperative systems; distributed control; mobile robots; multi-robot systems; path planning; real-time systems; AI techniques; conflict-free motion planning; decentralized approach; dynamic sub-goal algorithm; global path planning; local path planning; multiple mobile robots; real-time control technique; real-time multi-robot cooperation; Artificial intelligence; Communication system control; Control systems; Intelligent robots; Mobile robots; Motion planning; Path planning; Real time systems; Robot sensing systems; Technology planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772579

Filename

772579