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General information |
| Author |
Xu, Wang-bao; Chen, Xue-bo; Zhao, Jie; Huang, Tian-yun |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
For the local path‐planning of multi‐robots, a
decentralized method is presented where each robot plans
its own path in the following steps for each iteration.
Firstly, an optimal way representative point (OWRpoint) is
obtained for guiding the robot to move along a shorter
path. Then, the robot moves a step under the control of its
own motion controller, which is designed based on
artificial moments. In the motion controller, attractive and
repulsive moments are used to move robots closer to their
OWRpoints and away from obstacles, while coordinated
moments are used to resolve the conflicts between robots.
Two simulations are given to test the method and the
results indicate that the method is valuable as it meets the
requirements of the real‐time property while optimizing
the performance measure of each robot: namely, the path
travelled to reach the robot’s target. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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