Path Planning for Multi-robot Systems in Intelligent Warehouse

被引：4
|
作者：
Chen, Hailong [1 ]
Wang, Qiang [1 ]
Yu, Meng [1 ]
Cao, Jingjing [1 ]
Sun, Jingtao [2 ]
机构：
[1] Wuhan Univ Technol, Wuhan, Peoples R China
[2] Natl Inst Informat, Tokyo 1018430, Japan
来源：
INTERNET AND DISTRIBUTED COMPUTING SYSTEMS | 2018年 / 11226卷
基金：
中国国家自然科学基金;
关键词：
Path planning; Multi-robot; Artificial potential; Intelligent warehouse;
D O I：
10.1007/978-3-030-02738-4_13
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, the path planning problem of robotics group is surveyed in the context of multi-robot transportation tasks on an intelligent warehouse. The mainly researches focused on the a shortest path theory and algorithm for single robot system. To solve the path planning problem on multi-robot systems, a novel approach is presented for multi-robot systems in an intelligent warehouse by using the method of artificial potential function (APF) in this paper. The proposed improving method of APF that motioned the strategy of wall-following with priority and how to solve the unavoidable troubles in obstacle avoidance for multi-robot systems such as local minima, non-reachable target, collision and traffic jams. Finally, several numerical simulations were provided to show the effectiveness, and the performance of the proposed method with the theoretical results.
引用
收藏
页码：148 / 159
页数：12
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