Multi-robot Path Planning Using Petri Nets

被引：3

作者：

Zhang, Hongbin ^{[1
]}

Luo, Jiliang ^{[1
]}

Long, Jinjun ^{[2
]}

Huang, Yisheng ^{[3
]}

Wu, Weimin ^{[4
]}

机构：

[1] Huaqiao Univ, Dept Control Sci & Engn, Xiamen 361021, Peoples R China

[2] KENGIC Intelligent Equipment Co Ltd, 2 Workshop 321 Jinrong Rd, Qingdao 266000, Peoples R China

[3] Natl Ilan Univ, Dept Elect Engn, Yilan 26047, Taiwan

[4] Zhejiang Univ, Inst Cyber Syst & Control, State Key Lab Ind Control Technol, Hangzhou 310027, Peoples R China

来源：

VERIFICATION AND EVALUATION OF COMPUTER AND COMMUNICATION SYSTEMS, VECOS 2020 | 2020年 / 12519卷

基金：

美国国家科学基金会;

关键词：

Multi-robot; Discrete event systems; Path planning; Optimization; Petri Nets; SUPERVISORS; DESIGN;

D O I：

10.1007/978-3-030-65955-4_2

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

A formal approach is proposed for planning a team of mobile robots such that no collision occurs and tasks represented by a Boolean specification are satisfied. It should be specially noted that the order, by which the given tasks are executed, is taken into account by the specification. First, a team of mobile robots and their environment are modeled as a Petri net (PN). Second, a method is presented to design place nodes enforcing a given specification on the PN model. Consequently, the resultant PN can be used to model the robot team's behaviors that satisfy the specification. Third, an optimal problem, minimizing the total traveling distance that the robots take to perform given tasks, is formulated as an integer linear programming (ILP) problem via the PN model. By solving the ILP problem, the optimal action sequence is obtained, which actually means an optimal strategy to schedule robots.

引用

页码：15 / 26

页数：12

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