Path Planning for Multi-robot Systems in Intelligent Warehouse

被引：6

作者：

Chen, Hailong ^{[1
]}

Wang, Qiang ^{[1
]}

Yu, Meng ^{[1
]}

Cao, Jingjing ^{[1
]}

Sun, Jingtao ^{[2
]}

机构：

[1] Wuhan Univ Technol, Wuhan, Peoples R China

[2] Natl Inst Informat, Tokyo 1018430, Japan

来源：

INTERNET AND DISTRIBUTED COMPUTING SYSTEMS | 2018年 / 11226卷

基金：

中国国家自然科学基金;

关键词：

Path planning; Multi-robot; Artificial potential; Intelligent warehouse;

D O I：

10.1007/978-3-030-02738-4_13

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 work, the path planning problem of robotics group is surveyed in the context of multi-robot transportation tasks on an intelligent warehouse. The mainly researches focused on the a shortest path theory and algorithm for single robot system. To solve the path planning problem on multi-robot systems, a novel approach is presented for multi-robot systems in an intelligent warehouse by using the method of artificial potential function (APF) in this paper. The proposed improving method of APF that motioned the strategy of wall-following with priority and how to solve the unavoidable troubles in obstacle avoidance for multi-robot systems such as local minima, non-reachable target, collision and traffic jams. Finally, several numerical simulations were provided to show the effectiveness, and the performance of the proposed method with the theoretical results.

引用

页码：148 / 159

页数：12

共 12 条

[1]

Chen M., 2017, DESTECH T COMPUT SCI

[2] Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment [J].