In this paper is described a fast Path-Planner for Multi-robot composed by mobile robots having generic shapes and sizes (user defined) and different kinematics. We have developed an algorithm that computes the shortest collision-free path for each robot, from the starting pose to the goal pose, while considering their real shapes, avoiding the collisions with the static obstacles and the 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 searches for all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 5D Time-Space.
Marchese, F., Dal Negro, M. (2006). Path-planning for multiple generic-shaped mobile robots with MCA. In Computational Science - ICCS 2006, Part III (pp.264-271). Berlin : Springer.
Path-planning for multiple generic-shaped mobile robots with MCA
MARCHESE, FABIO MARIO GUIDO;
2006
Abstract
In this paper is described a fast Path-Planner for Multi-robot composed by mobile robots having generic shapes and sizes (user defined) and different kinematics. We have developed an algorithm that computes the shortest collision-free path for each robot, from the starting pose to the goal pose, while considering their real shapes, avoiding the collisions with the static obstacles and the 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 searches for all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 5D Time-Space.
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