DocumentCode
2535907
Title
Pathfinding in multi-robot systems: Solution and applications
Author
Freund, E. ; Hoyer, H.
Author_Institution
Universität Dortmund, Postfach, Dortmund, West Germany
Volume
3
fYear
1986
fDate
31503
Firstpage
103
Lastpage
111
Abstract
In the paper a general approach is given to the solution of the findpath problem in multi-robot systems based on a suitable structuring of the hierarchical overall system. The method developed uses a systematic design procedure for multi-robot systems which includes the design of the hierarchical coordinator for on-line collision avoidance. The efficiency of this new approach is demonstrated by several cases like the interaction of three stationary robots with different obstacles as well as by the interaction of mobile robots and moving obstacles.
Keywords
Collision avoidance; Design methodology; Manufacturing automation; Mobile robots; Multirobot systems; Path planning; Robot kinematics; Robotic assembly; Robotics and automation; Solids;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087653
Filename
1087653
Link To Document