Title :
Multi-robot coordination with balanced task allocation and optimized path planning
Author :
Yuan, Xiaobu ; Yang, Simon X.
Author_Institution :
Sch. of Comput. Sci., Univ. of Windsor, Windsor, ON
Abstract :
A modification to the well-known shunting equation has successfully created a method of automated path generation. This paper further investigates the integration of automated path generation with task allocation in multi-robot coordination. It presents an algorithm that is able to equally distribute the workload of multiple mobile robots while guiding them to move along optimized paths in the presence of obstacles and environmental uncertainty. Experiment results are also provided in the paper to examine the operation of the proposed algorithm and its application.
Keywords :
mobile robots; multi-robot systems; path planning; automated path generation; balanced task allocation; environmental uncertainty; multiple mobile robot coordination; optimized path planning; shunting equation; Genetic algorithms; Mobile robots; Motion planning; Neural networks; Orbital robotics; Path planning; Robot control; Robot kinematics; Robot sensing systems; Uncertainty; Multi-robot coordination; neural networks; path planning; task allocation;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522301
