DocumentCode :
2119087
Title :
Cooperative sweeping by multiple mobile robots with relocating portable obstacles
Author :
Kurabayashi, Daisuke ; Ota, Jun ; Arai, Tamio ; Ichikawa, Shinpei ; Koga, Shingo ; Asama, Hajime ; Endo, Isao
Author_Institution :
Dept. of Precision Machinery Eng., Tokyo Univ., Japan
Volume :
3
fYear :
1996
fDate :
4-8 Nov 1996
Firstpage :
1472
Abstract :
In this paper, we propose an off-line planning algorithm for cooperative tasks of multiple mobile robots. Sweeping means a motion that a robot covers a 2-dimensional area by its effector. Sweeping of a whole work area is fundamental and essential task of mobile robots. It is more effective if a robot can move an obstacle during a sweeping task as if we clean our room with relocating chairs. We can also consider that this is the simplest task which includes both point-to-point motion and sweeping. We model sweeping and relocation, and propose an algorithm to find appropriate path for robot and way of relocation of each obstacle. We apply the LT graph to solve the problem, which describes both motions of robots and blockades by obstacles in path-time space. We verify the efficiency of the algorithm through simulations and experiments
Keywords :
cooperative systems; mobile robots; path planning; cooperative sweeping; multiple mobile robots; off-line planning algorithm; path-time space; point-to-point motion; relocating portable obstacles; Chemical engineering; Cleaning; Machinery; Machining; Mobile robots; Motion control; Motion planning; Orbital robotics; Painting; Path planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
Type :
conf
DOI :
10.1109/IROS.1996.569008
Filename :
569008
Link To Document :
بازگشت