Author(s): OU Jin-jun, ZHU Feng
Pages: 474-481
Year: 2000 Issue:  6
Journal: ROBOT
Keyword:  mobile robot; motion planning; collision avoidance of multi-robot;
Abstract: A centralized motion planning method has been presented in this paper, it realizes the collisionavoidance in a multi-robot system by adjusting the velocity of robots. The basic idea of this method is: thepaths of robots are segmented to several sub-paths first, and then the restrictions to the time of robot passingthrough these sub-paths can be established according to the request of collision avoidance. So, the questionhas been converted to an optimal question in a linear-space and it can be resolved by a group of linearequations in closed form. Because this method has a high complexity, several ways have been developed toreduce the burden of calculation. The basic idea of this method, some related theorem and their proving, themethod of predigestion are presented in this paper, the simulation results and a short discussion are also givenin the last session of this paper.