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A Distributed and Optimal Algorithm to Coordinate the Motion of Multiple Mobile Robots
Zheng JY(郑建颖); Yu HB(于海斌); Liang W(梁炜); Zeng P(曾鹏)
Department工业控制系统研究室
Conference Name7th World Congress on Intelligent Control and Automation
Conference DateJune 25-27, 2008
Conference PlaceChongqing, China
Author of SourceChongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
Source Publication2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages3027-3032
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083911600900
WOS IDWOS:000259965702107
Contribution Rank1
ISBN978-1-4244-2113-8
KeywordMultiple Mobile Robots Motion Planning Distributed Control Dynamic Robot Network Limited Communication Range
AbstractThis paper addresses the problem of planning paths for multiple mobile robots moving in the same environments. We try to decrease the computational complexity of path planning, which is one of the fundamental limiting characteristics in the existing work of path planning. Unlike many other approaches to this problem, we assume the robots are restricted by the limited-communication range such that information about other robots can be known only when they move close to each other. In our method, the computationally expensive problem is decomposed into two modules-path planning and velocity planning. Such decomposition makes approaches of path planning for multiple mobile robots applicable. Trajectory for each robot is achieved by using the approach named Vector Field Histogram (VFH) before the robots begin to move. Then the conflicts among robots are solved by adjusting the velocities of robots. Velocity planning occurs only inside the robots that are in the same network. The method of planning velocities for the robots is called the dynamic priority assignment, which can minimize the total waiting time of robots in the same network. Finally, both simulated and real-robot experiments have validated our approach.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8035
Collection工业信息学研究室_工业控制系统研究室
Corresponding AuthorZheng JY(郑建颖)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Science(CAS), Shenyang, Liaoning Province, China
2.Graduate University of Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zheng JY,Yu HB,Liang W,et al. A Distributed and Optimal Algorithm to Coordinate the Motion of Multiple Mobile Robots[C]//Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn. NEW YORK:IEEE,2008:3027-3032.
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