Collision avoidance among multiple mobile robots based on rules and communication

Author

Asama, Hajime ; Ozaki, Koichi ; Itakur, Hiroaki ; Matsumoto, Akihiro ; Ishida, Yoshiki ; Endo, Isao

Author_Institution

Chem. Eng. Lab., Inst. of Phys. & Chem. Res., Saitama, Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1215

Abstract

An autonomous and decentralized robot system, ACTRESS, is being developed as an intelligent robot system which is composed of multiple robotic agents. The basic concept and strategy for path planning in a dynamically changing environment with multiple autonomous mobile robots are introduced. Collision avoidance with dynamic path planning according to the complexity of the situations is also discussed. A method for collision avoidance based on rules and negotiation by communication is presented. Finally, this method is applied to a developed prototype system consisting of two mobile robots, and the result of experiments operating on real robots is given

Keywords

decentralised control; mobile robots; navigation; planning (artificial intelligence); ACTRESS; collision avoidance; communication; intelligent robot system; mobile robots; multiple autonomous mobile robots; multiple robotic agents; path planning; rule based systems; Collision avoidance; Environmental management; Intelligent robots; Mobile communication; Mobile robots; Path planning; Problem-solving; Robot kinematics; Robot sensing systems; Strategic planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174665

Filename

174665