Multi-Robot Path Planning Based on the Developed RRT* Algorithm

被引：0

作者：

Li Yang ^{[1
]}

Cu Rongxi ^{[1
]}

Yang Chenguang ^{[2
]}

Xu Demin ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Sch Marine Engn, Xian 710072, Peoples R China

[2] Univ Plymouth, Sch Comp & Math, Plymouth PL4 8AA, Devon, England

来源：

2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年

基金：

中国国家自然科学基金;

关键词：

Multi-Robot; Developed RRT*; Target bias; Path planning; MULTIPLE ROBOTS; NEGOTIATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we investigate the multi-robot path planning problem, with both the robot motion constrains and the conflictions among the robots taken into account. We have extended the RRT* algorithm by considering the motion constraints and the sensor ranges of the robots and calculate the path of the robots in real time. Simulation studies are performed to show the effectiveness of our algorithm.

引用

页码：7049 / 7053

页数：5

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