Cooperative simulated annealing for path planning in multi-robot systems

被引：0

作者：

Sánchez-Ante, G ^{[1
]}

Ramos, F ^{[1
]}

Frausto, J ^{[1
]}

机构：

[1] ITESM, Dept Comp Sci, Cuernavaca 62589, Morelos, Mexico

来源：

MICAI 2000: ADVANCES IN ARTIFICIAL INTELLIGENCE, PROCEEDINGS | 2000年 / 1793卷

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents some preliminary results on the application of a Cooperative Simulated Annealing algorithm (COSA) for solving the problem of path planning in;Multi-Robot systems. The main idea is to generate paths for each robot in the system without taking care of the other robots, and then coordinate the paths for all the robots. Paths are generated using a variation of the probabilistic roadmaps (PRM), and the coordination of the paths is achieved with a Cooperative Simulated Annealing (COSA). To evaluate the system, several experiments for environments constituted by two planar robots with up to five dof and various convex obstacles were run. The results obtained aim to continue working on this line.

引用

页码：148 / 157

页数：10

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