Title :
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
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;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.669234
