Decentralized self-decision planning system for multiple intelligent mobile robots

Author

Ming, Zhou ; Maoxiang, Sun ; Yanhong, Wang ; Chaowan, Yin

Author_Institution

Dept. of Electr. Eng., Shenyang Polytech. Univ., China

Volume

2

fYear

1997

fDate

28-31 Oct 1997

Firstpage

1385

Abstract

An intelligent planning strategy using the model of a distributed robotics system is presented to deal with the problem of motion planning for multiple mobile robots in one working environment. The proposed approach not only guarantees time-energy optimality but also meets kinematic and dynamic constraints of robots. In this paper, a real-time expert system is introduced and most data required by online planning is computed offline. The simulation results based on the scheme are presented to demonstrate its efficiency

Keywords

expert systems; intelligent control; mobile robots; path planning; real-time systems; robot dynamics; robot kinematics; decentralized self-decision planning system; distributed robotics; dynamic constraints; intelligent planning; kinematic constraints; motion planning; multiple intelligent mobile robots; offline computation; online planning; real-time expert system; simulation; time-energy optimality; Computational modeling; Expert systems; Intelligent robots; Intelligent systems; Kinematics; Mobile robots; Motion planning; Path planning; Real time systems; Robot kinematics; Robotics and automation; Service robots; Strategic planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-4253-4

Type

conf

DOI

10.1109/ICIPS.1997.669234

Filename

669234