Path planning of multi-robot systems with cooperation

Author

Zhu, Anmin ; Yang, Simon X.

Author_Institution

Sch. of Eng., Guelph Univ., Ont., Canada

Volume

2

fYear

2003

Firstpage

1028

Abstract

In this paper, a novel gated dipole based approach is proposed for path planning of a multi-robot system, where the cooperative control strategy is based on the multi-agent systems. The system stability is guaranteed by a Lyapunov stability theory. The proposed approach is capable of generating collision-free paths for a multi-robot system in various situations, such as robots with different speed, with limited measurable sensor information, and in completely unknown environments. The effectiveness and efficiency of the proposed approach is demonstrated by simulation studies.

Keywords

Lyapunov methods; collision avoidance; cooperative systems; mobile robots; multi-robot systems; neural nets; path planning; stability; Lyapunov stability theory; collision free paths; cooperative control strategy; multiagent systems; multiple robot systems; neural dynamics equations; neural network; novel gated dipole approach; path planning; sensor information; simulation studies; system stability; Genetic algorithms; Intelligent robots; Mobile robots; Multirobot systems; Orbital robotics; Path planning; Robot kinematics; Robot sensing systems; Stability; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222321

Filename

1222321