A Distributed and Optimal Algorithm to Coordinate the Motion of Multiple Mobile Robots
文献类型：会议论文
| 作者 | Zheng JY(郑建颖); Yu HB(于海斌) ; Liang W(梁炜); Zeng P(曾鹏)
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| 出版日期 | 2008 |
| 会议名称 | 7th World Congress on Intelligent Control and Automation |
| 会议日期 | June 25-27, 2008 |
| 会议地点 | Chongqing, China |
| 关键词 | multiple mobile robots motion planning distributed control dynamic robot network limited communication range |
| 页码 | 3027-3032 |
| 中文摘要 | This paper addresses the problem of planning paths for multiple mobile robots moving in the same environments. We try to decrease the computational complexity of path planning, which is one of the fundamental limiting characteristics in the existing work of path planning. Unlike many other approaches to this problem, we assume the robots are restricted by the limited-communication range such that information about other robots can be known only when they move close to each other. In our method, the computationally expensive problem is decomposed into two modules-path planning and velocity planning. Such decomposition makes approaches of path planning for multiple mobile robots applicable. Trajectory for each robot is achieved by using the approach named Vector Field Histogram (VFH) before the robots begin to move. Then the conflicts among robots are solved by adjusting the velocities of robots. Velocity planning occurs only inside the robots that are in the same network. The method of planning velocities for the robots is called the dynamic priority assignment, which can minimize the total waiting time of robots in the same network. Finally, both simulated and real-robot experiments have validated our approach. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn |
| 会议录 | 2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2113-8 |
| WOS记录号 | WOS:000259965702107 |
| 源URL | [http://ir.sia.cn/handle/173321/8035]  |
| 专题 | 沈阳自动化研究所_工业信息学研究室_工业控制系统研究室 |
| 推荐引用方式 GB/T 7714 | Zheng JY,Yu HB,Liang W,et al. A Distributed and Optimal Algorithm to Coordinate the Motion of Multiple Mobile Robots[C]. 见:7th World Congress on Intelligent Control and Automation. Chongqing, China. June 25-27, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
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