COLLISION-MODEL BASED MOTION PLANNER FOR MULTI-AGENTS IN A FACTORY

S. H. Ji, W. H. Ko, K. T. Nam, S. M. Lee

Abstract

It is well known that Mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agents. We propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents. First, based upon the collision map the collision features of multi agent is analyzed. The collision map is used for the collision avoidance of two industrial manipulators based upon the priority. Second, collision model ((M,D) network model) based upon the studied collision features is suggested in order to express the traveling features of multi agents. Finally, an interactive way to design the collision-free motion of multi agent on the network model is proposed.

References

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  11. {2.5, 27.5} {30, 0} {40,0} {2.5, 27.5} {40,0} {30, 0} Figure 6: Procedure of collision-free motion planner on collision model for the agents in Figure 4.
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Paper Citation


in Harvard Style

Ji S., Ko W., Nam K. and Lee S. (2009). COLLISION-MODEL BASED MOTION PLANNER FOR MULTI-AGENTS IN A FACTORY . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 378-382. DOI: 10.5220/0002172703780382


in Bibtex Style

@conference{icinco09,
author={S. H. Ji and W. H. Ko and K. T. Nam and S. M. Lee},
title={COLLISION-MODEL BASED MOTION PLANNER FOR MULTI-AGENTS IN A FACTORY},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={378-382},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002172703780382},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - COLLISION-MODEL BASED MOTION PLANNER FOR MULTI-AGENTS IN A FACTORY
SN - 978-989-674-000-9
AU - Ji S.
AU - Ko W.
AU - Nam K.
AU - Lee S.
PY - 2009
SP - 378
EP - 382
DO - 10.5220/0002172703780382