Title :
A decentralized approach to the conflict-free motion planning for multiple mobile robots
Author :
Chun, Li ; Zheng, Zhiqiang ; Chang, Wensen
Author_Institution :
Dept. of Autom. Control, Changsha Inst. of Technol., Hunan, China
Abstract :
Presents a decentralized approach to the conflict-free motion planning for multiple mobile robots. We decompose the problem into global path planning and local path planning. AI techniques are used to solve the global planning problem and we obtain an optimal global path. From the point of view of combining AI techniques with a real-time control technique; a dynamic sub-goal algorithm is put forward to solve the local planning problem for the multi-robot system. The simulation results show the efficiency of the algorithm for real-time multi-robot cooperation
Keywords :
cooperative systems; distributed control; mobile robots; multi-robot systems; path planning; real-time systems; AI techniques; conflict-free motion planning; decentralized approach; dynamic sub-goal algorithm; global path planning; local path planning; multiple mobile robots; real-time control technique; real-time multi-robot cooperation; Artificial intelligence; Communication system control; Control systems; Intelligent robots; Mobile robots; Motion planning; Path planning; Real time systems; Robot sensing systems; Technology planning;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772579
