NDLI: A distributed and optimal motion planning approach for multiple mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Yi Guo Parker, L.E.
Copyright Year	2002
Description	Author affiliation: Center for Eng. Syst. Adv. Res., Oak Ridge Nat. Lab., TN, USA (Yi Guo; Parker, L.E.)
Abstract	We propose a distributed and optimal motion planning algorithm for multiple robots. The computationally expensive problem is decomposed into two modules: path planning and velocity planning. The D* search method is applied in both modules, based on either geometric formulation or schedule formulation. Optimization is achieved at the individual robot level by defining cost functions, and also at the team level by a global measurement function reflecting performance indices of interest as a team. Contrary to our knowledge of previous results on multi-robot motion planning that either obtain optimal solutions through centralized and exhaustive computing, or achieve distributed implementations without considering any optimization issues, our approach combines these two features and explicitly optimizes performance functions through a distributed implementation. It is also one of the few that is capable of handling outdoor rough terrain environments and real time replanning. Simulations are shown on a Mars-like rough terrain using a 3D vehicle planner and control simulator. The algorithm was also implemented and successfully run on a group of Nomad 200 indoor robots.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	2612
Ending Page	2619
File Size	1148476
Page Count	8
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1013625
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Mobile robots Robot kinematics Path planning Government Cost function Robot motion Distributed computing Polynomials Strategic planning
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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