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Motion planning for multiple robots with multi-mode operations via disjunctive graphs

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題名: Motion planning for multiple robots with multi-mode operations via disjunctive graphs

作者: Lin, Chi-Fang Tsai, Wen-Hsiang 貢獻者: Asia University

日期: 1991

上傳時間: 2009-10-23T06:15:20Z

摘要: A new approach to motion planning for multiple robots with multi-mode operations is proposed. Although sharing a common workspace, the robots are assumed to perform periodical tasks independently. The goal is to schedule the motion trajectories of the robots so as to avoid collisions among them. The superiority of this approach is demonstrated with various robot operation requirements, including "non-priority", "with-priority", and

"multicycle" operation modes. Some techniques for speeding up the scheduling process are also presented.

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