In this paper is described a fast Motion-Planner for Multi-robot composed by mobile robots having generic shapes and sizes (user defined) and different kinematics. A new algorithm has been developed to compute the shortest collision-free path for each robot while considering their real shapes, the kinematics constraints, and avoiding the collisions with static and dynamical obstacles (e.g. other robots). It is based on a directional (anisotropic) propagation of attracting potential values in a 4D Space-Time, using a Multilayered Cellular Automata (MCA) architecture. This algorithm makes a search for all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 5D space
Marchese, F. (2006). Space-time cellular automata in multiple mobile robots motion-planning. In Proceedings of the 12th IASTED International Conference on Robotics and Applications (pp.144-149). ACTA Press.
Space-time cellular automata in multiple mobile robots motion-planning
Marchese, FMG
2006
Abstract
In this paper is described a fast Motion-Planner for Multi-robot composed by mobile robots having generic shapes and sizes (user defined) and different kinematics. A new algorithm has been developed to compute the shortest collision-free path for each robot while considering their real shapes, the kinematics constraints, and avoiding the collisions with static and dynamical obstacles (e.g. other robots). It is based on a directional (anisotropic) propagation of attracting potential values in a 4D Space-Time, using a Multilayered Cellular Automata (MCA) architecture. This algorithm makes a search for all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 5D space
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