Contribution to the path planning of a multi-robot system: centralized architecture

被引：30

作者：

Matoui, Fethi ^{[1
]}

Boussaid, Boumedyen ^{[1
]}

Metoui, Brahim ^{[1
]}

Abdelkrim, Mohamed Naceur ^{[1
]}

机构：

[1] Natl Sch Engineers Gabes, Gabes, Tunisia

来源：

INTELLIGENT SERVICE ROBOTICS | 2020年 / 13卷 / 01期

关键词：

Path planning; Potential field; Multi-robot system; Dynamic environment; Centralized architecture;

D O I：

10.1007/s11370-019-00302-w

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The current study is set to investigate the problem of planning trajectories for a multi-robot system in a dynamic environment. The planning study is conducted in a "barrier-free" and "with obstacle" environment, based on the artificial potential field (APF) technique. This study seeks to improve the APF method in order to have good trajectory planning of a multi-robot system. Also, for multi-robot mobile systems, one of the main technical considerations is the technique used to coordinate the movements of different robots. In this paper, we proposed a centralized architecture for the trajectory planning of a multi-robot system.

引用

页码：147 / 158

页数：12

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