M. Bennewitz, and W. Burgard
An Experimental Comparison of
Path Planning Techniques for Teams of Mobile Robots
Tagungsband des 16. Fachgesprächs Autonome Mobile
Systeme (AMS)
Abstract
This paper considers the problem of path planning for teams of mobile robots.
It investigates two decoupled and prioritized approaches to coordinate
the movements of the mobile robots in their environment. The first
approach considered is the coordination technique. The second approach
is an A*-based path planning technique which computes the paths for the
individual robots in the configuration time-space. Thereby it trades
off the distance to both to static objects as well as to other robots and
the length of the path to be traveled. In different experiments carried
out with real robots and in simulations we demonstrate that the A*-based
approach is well suited to control the motions of a team of robots in various
environments and illustrate its advantages over the coordination technique.
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Bibtex
@InProceedings{Benn00Exp,
author = {Bennewitz, M. and Burgard, W.},
title = {An Experimental Comparison
of Path Planning Techniques for Teams of Mobile Robots},
booktitle = {{T}agungsband des 16.~{F}achgespr{\"a}chs {A}utonome
{M}obile {S}ysteme (AMS)},
year = {2000}
}