Sampling-based Multi-robot Motion Planning

Zhi Yan, Nicolas Jouandeau, Arab Ali Cherif

Abstract

This paper describes a sampling-based approach to multi-robot motion planning. The proposed approach is centralized, which aims to reduce interference between mobile robots such as collision, congestion and deadlock, by increasing the number of waypoints. The implementation based on occupancy grid map is decomposed into three steps: the first step is to identify primary waypoints by using the Voronoi diagram, the second step is to generate additional waypoints by sampling the Voronoi diagram, and the last step is to assign the waypoints to robots by using the Hungarian method. The approach has been implemented and tested in simulation and the experimental results show a good system performance for multi-robot motion planning.

References

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Paper Citation


in Harvard Style

Yan Z., Jouandeau N. and Ali Cherif A. (2013). Sampling-based Multi-robot Motion Planning . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC&ITS, (ICINCO 2013) ISBN 978-989-8565-70-9, pages 549-554. DOI: 10.5220/0004605005490554


in Bibtex Style

@conference{ivc&its13,
author={Zhi Yan and Nicolas Jouandeau and Arab Ali Cherif},
title={Sampling-based Multi-robot Motion Planning},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC&ITS, (ICINCO 2013)},
year={2013},
pages={549-554},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004605005490554},
isbn={978-989-8565-70-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC&ITS, (ICINCO 2013)
TI - Sampling-based Multi-robot Motion Planning
SN - 978-989-8565-70-9
AU - Yan Z.
AU - Jouandeau N.
AU - Ali Cherif A.
PY - 2013
SP - 549
EP - 554
DO - 10.5220/0004605005490554