Multi-robot path planning for smart access of distributed charging points in map

被引:9
作者
Ravankar, Abhijeet [1 ]
Ravankar, Ankit A. [2 ]
Watanabe, Michiko [1 ]
Hoshino, Yohei [1 ]
Rawankar, Arpit [3 ]
机构
[1] Kitami Inst Technol, Sch Reg Innovat & Social Design Engn, Kitami, Hokkaido, Japan
[2] Hokkaido Univ, Div Human Mech Syst & Design, Sapporo, Hokkaido, Japan
[3] Vidyalankar Inst Technol, Dept Elect & Telecommun, Mumbai, Maharashtra, India
关键词
Autonomous mobile robots; Service robots; Path planning; Robot charging; SYSTEM;
D O I
10.1007/s10015-020-00612-8
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Autonomous mobile robots are being used to automate many tasks such as cleaning, delivering items, and surveillance. Such tasks often require uninterrupted and continuous service. However, robots have limited battery power and must be recharged frequently. Since manually charging each robot is not always feasible, automatic charging (docking) stations have been developed to automate the process of charging. In a multi-robot system, the tasks are generally distributed between the robots, and different robots have different amounts of remaining battery power. Since the charging stations are expensive, a limited number of charging points are generally available. Hence, an intelligent planner to manage a limited number of charging points for a large number of robots is essential. In this work, we propose a multi-robot path planner for intelligently accessing a limited number of charging points distributed on the map. Unlike traditional path planners, which mainly consider the shortest path criterion to generate paths, the proposed planner also considers the remaining battery power of the robots, task priority, and robot's location in the map. It allocates the most appropriate charging station to the robots, which require recharging. Simulation results show that the proposed planner can reduce trajectory re-planning, and plan efficient paths to the available charging points.
引用
收藏
页码:52 / 60
页数:9
相关论文
共 22 条
[1]   A FORMAL BASIS FOR HEURISTIC DETERMINATION OF MINIMUM COST PATHS [J].
HART, PE ;
NILSSON, NJ ;
RAPHAEL, B .
IEEE TRANSACTIONS ON SYSTEMS SCIENCE AND CYBERNETICS, 1968, SSC4 (02) :100-+
[2]   Probabilistic roadmaps for path planning in high-dimensional configuration spaces [J].
Kavraki, LE ;
Svestka, P ;
Latombe, JC ;
Overmars, MH .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996, 12 (04) :566-580
[3]   Automated robot docking using direction sensing RFID [J].
Kim, MyungSik ;
Kim, Hyung Wook ;
Chong, Nak Young .
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :4588-+
[4]  
Li Z, 2017, 2017 9TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION AND CONTROL (ICMIC 2017), P919, DOI 10.1109/ICMIC.2017.8321587
[5]   Multiagent multisensor based real-time sensory control system for intelligent security robot [J].
Luo, RC ;
Su, KL .
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, :2394-2399
[6]  
Mohamadnejad N, 2015, RSI INT CONF ROBOT M, P612, DOI 10.1109/ICRoM.2015.7367853
[7]  
Quigley M., 2009, P ICRA WORKSH OPT NE, V3, P5
[8]  
Ravankar Abhijeet, 2019, 2019 8th International Congress on Advanced Applied Informatics (IIAI-AAI), P552, DOI 10.1109/IIAI-AAI.2019.00118
[9]  
Ravankar Ankit A., 2020, SICE Journal of Control, Measurement, and System Integration, V13, P138, DOI 10.9746/jcmsi.13.138
[10]   ITC: Infused Tangential Curves for Smooth 2D and 3D Navigation of Mobile Robots [J].
Ravankar, Abhijeet ;
Ravankar, Ankit A. ;
Rawankar, Arpit ;
Hoshino, Yohei ;
Kobayashi, Yukinori .
SENSORS, 2019, 19 (20)