Multi Robot Path Planning and Path Coordination Using Genetic Algorithms: Extended Abstract
Multi Robot Path Planning and Path Coordination Using Genetic Algorithms: Extended Abstract
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使用遗传算法的多机器人路径规划和路径协调：扩展摘要
DOI：
10.1145/3077286.3077327
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
A. Saad
中科院分区：
文献类型：
--
作者：
Muthumeena Muthiah;A. Saad
为多个机器人规划最优路径在计算上是昂贵的。在本研究中，我们提供一个多机器人路径规划的遗传算法实作。多个移动的机器人的路径规划必须为每个机器人设计一条无碰撞的路径。本文提出了一种遗传算法的多机器人路径规划，我们开发的问题提供了一个解决方案。使用m3pi机器人的实验结果证实了所提出的解决方案在各种情况下，如多机器人导航，以及需要多个机器人协调，以实现一个共同的目标，如推一个盒子或诱捕猎物的情况下的有用性。
Planning optimal paths for multiple robots is computationally expensive. In this research, we provide a Genetic Algorithm implementation for multi robot path planning. Path planning for multiple mobile robots must devise a collision-free path for each robot. The paper presents a Genetic Algorithm multi robot path planner that we developed to provide a solution to the problem. Experimental results using m3pi robots confirm the usefulness of the proposed solution in a variety of scenarios such as multi robot navigation as well as scenarios that require coordination of multiple robots to achieve a common goal such as pushing a box or trapping a prey.