Title :
Hybrid multi-robot path planning strategy based on RRT and fuzzy control in wireless sensor network
Author :
Song, Ping ; Li, Jiangfeng ; Li, Kejie ; Liang, Jinlong
Author_Institution :
Intell. Robot. Inst., Beijing Inst. of Technol., Beijing, China
Abstract :
Multi-robot path planning refers to finding an optimized obstacle-avoidance path cooperatively in unknown environment while knowing the start and end coordinates. The development of wireless sensor network provides a low cost and efficient solution for multi-robot path planning. In this paper a hybrid path planning strategy based on WSN is proposed. It combined local and global path planning based on RRT algorithm with fuzzy control rules. The simulation result shows that this hybrid path planning method can be effectively achieve multi-robot obstacle avoidance and cooperation.
Keywords :
collision avoidance; multi-robot systems; telecommunication congestion control; wireless sensor networks; RRT algorithm; fuzzy control; global path planning; hybrid multirobot path planning strategy; local path planning; multirobot obstacle avoidance; wireless sensor network; Costs; Fuzzy control; Intelligent robots; Mobile robots; Multirobot systems; Path planning; Robot kinematics; Robot sensing systems; Stochastic processes; Wireless sensor networks;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420833
