Motion planning for multiple mobile robots using dynamic networks
Motion planning for multiple mobile robots using dynamic networks
复制标题
使用动态网络的多个移动机器人的运动规划
DOI：
10.1109/robot.2003.1242252
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
J. Latombe
中科院分区：
文献类型：
--
作者：
C. Clark;S. Rock;J. Latombe
提出了一种新的运动规划框架，使具有有限传感和通信范围的多个移动机器人能够在动态环境中安全地操纵并实现目标。为了结合集中式和分散式规划的各自优点，该框架基于动态机器人网络中集中式规划的概念。当机器人在其环境中移动时，局部机器人组形成网络，在网络中可以共享世界模型和机器人目标。每当网络形成时，新信息就可供该网络中的所有机器人使用。有了这些新信息，每个机器人都会使用快速、集中的规划器来动态计算新的协调轨迹。对多个机器人网络的规划是分散和分布式的。模拟和真实机器人实验都验证了该方法。
A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information then becomes available to all robots in this network. With this new information, each robot uses a fast, centralized planner to compute new coordinated trajectories on the fly. Planning over several robot networks is decentralized and distributed. Both simulated and real-robot experiments have validated the approach.