This paper describes a method for coordinating the motions of a group of robots following predefined paths in a common workspace. Coordination Diagrams (CD) are used for representing the possible collisions among the robots. We propose an algorithm that computes a complete coordination plan for the overall missions that each vehicle has to execute. The algorithm generates a set of possible coordination plans and then gives the optimal one. Previous works apply traditional path planning techniques (such as D* or A*) to compute a coordinated motion. However these techniques do not take into account the fact that the CD has a cylindrical structure. This features enables our algorithm to explore the CD in a more efficient way.

Coordination of Multiple Robots with Assigned Paths

OLMI, Roberto;FANTUZZI, Cesare
2010

Abstract

This paper describes a method for coordinating the motions of a group of robots following predefined paths in a common workspace. Coordination Diagrams (CD) are used for representing the possible collisions among the robots. We propose an algorithm that computes a complete coordination plan for the overall missions that each vehicle has to execute. The algorithm generates a set of possible coordination plans and then gives the optimal one. Previous works apply traditional path planning techniques (such as D* or A*) to compute a coordinated motion. However these techniques do not take into account the fact that the CD has a cylindrical structure. This features enables our algorithm to explore the CD in a more efficient way.
2010
9783902661876
Automated guided vehicles; Mobile robots; Traffic control; Trajectory planning;
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/1408249
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