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

被引：0
作者：
Fethi Matoui
Boumedyen Boussaid
Brahim Metoui
Mohamed Naceur Abdelkrim
机构：
[1] National School of Engineers of Gabes,
来源：
Intelligent Service Robotics | 2020年 / 13卷
关键词：
Path planning; Potential field; Multi-robot system; Dynamic environment; Centralized architecture;
D O I：
暂无
中图分类号：
学科分类号：
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
收藏
页码：147 / 158
页数：11
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