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Communication Dans Un Congrès Année : 2013

Sampling-based Multi-robot Motion Planning

Zhi Yan
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Arab Ali Cherif
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Résumé

This paper describes a sampling-based approach to multi-robot motion planning. The proposed approach is centralized, which aims to reduce interference between mobile robots such as collision, congestion and deadlock, by increasing the number of waypoints. The implementation based on occupancy grid map is decomposed into three steps: the first step is to identify primary waypoints by using the Voronoi diagram, the second step is to generate additional waypoints by sampling the Voronoi diagram, and the last step is to assign the waypoints to robots by using the Hungarian method. The approach has been implemented and tested in simulation and the experimental results show a good system performance for multi-robot motion planning.
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Dates et versions

hal-02317132 , version 1 (15-10-2019)

Identifiants

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Zhi Yan, Nicolas Jouandeau, Arab Ali Cherif. Sampling-based Multi-robot Motion Planning. 10th International Conference on Informatics in Control, Automation and Robotics, Jul 2013, Reykjavík, Iceland. ⟨10.5220/0004605005490554⟩. ⟨hal-02317132⟩
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