Authors:
S. H. Ji
;
S. M. Lee
and
W. H. Shon
Affiliation:
Korea Institute of Industrial Technology, Korea, Republic of
Keyword(s):
Collision Model, Multi-robots, Mobile-robot Motion Planning, Priority Selection.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Intelligent Transportation Technologies and Systems
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Optimization Algorithms
;
Robotics and Automation
;
Software Agents for Intelligent Control Systems
Abstract:
The priority selecting problem for multi-robots deals with the determination of the relative importance of multi-robots with the limited capability in speed and acceleration in order that the robots should arrive in the minimum time without any collision. Unlike the case of a single robot, the arrival time of multi-robots depends on the delayed action for collision-avoidance. The delayed action time to avoid collision varies according to the priority order of the robots. This means that faster motion completion can be achieved by altering the distribution of the priority. However, the priority decision which provides the collision-free optimum operation of multi-robots cannot be solved mathematically. It is because the collision avoidance process among robots is closely linked mutually. Therefore in this paper, based on (M,D) network model, in considering the priority decision, how to reduce the complexity of priority decision is suggested by selecting the robots which have influence
on operating performance of total robots. Conclusively, the effectiveness of the proposed approach is confirmed through simulation.
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