Route planning method of multiple mobile robots for transportation task based on collision prospect

Makiko Yahagi, Kazuo Nakazawa

Research output: Contribution to journalArticle

Abstract

Multiple robot system with decentralized control attracts attention and is expected to play an important role in transportation systems in factories and warehouses. In transportation systems, it is necessary to plan a route that minimizes the transportation time with less collision and deadlock. The goal of this study is to calculate appropriate routes with reducing communication load and computational load. In this paper, we proposed to combine prior route planning and local avoidance. In order to reduce computational load, each robot predict probability of collision with other robots by comparing present and destination position. A route with less collision is calculated by reflecting the overlap of route which has probability of collision into dijkstra method. The proposed method is evaluated through the computer simulation and the experiment using real robots.

Original languageEnglish
Pages (from-to)3307-3313
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume75
Issue number760
DOIs
Publication statusPublished - 2009 Dec

Keywords

  • Distributed coordination
  • Multi-agent
  • Planning

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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