Authors:
S. H. Ji
;
W. H. Ko
;
K. T. Nam
and
S. M. Lee
Affiliation:
Korea Institute of Industrial Technology, Korea, Republic of
Keyword(s):
Collision map, Collision Model, Multi-agents, Mobile-robot motion planning, Priority.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Network Robotics
;
Robotics and Automation
;
Software Agents for Intelligent Control Systems
Abstract:
It is well known that Mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agents. We propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents. First, based upon the collision map the collision features of multi agent is analyzed. The collision map is used for the collision avoidance of two industrial manipulators based upon the priority. Second, collision model ((M,D) network model) based upon the studied collision features is suggested in order to express the traveling features of multi agents. Finally, an interactive way to design the collision-free motion of multi agent on the network model is proposed.