M. Bennewitz, and W. Burgard
A Probabilistic Method for Planning
Collision-free Trajectories of Multiple Mobile Robots
Proc. of the workshop Service Robotics - Applications
and Safety Issues in an Emerging Market at the 14th European Conference
on Artificial Intelligence (ECAI)
Abstract
This paper considers the problem of path planning for teams of mobile robots.
It presents a decoupled and prioritized approach to coordinate the movements
of the mobile robots in their environment. Our algorithm computes the paths
for the individual robots in the configuration-time space. Thereby
it trades off the distance to both static objects as well as other robots
and the length of the path to be traveled. To estimate the risk of
colliding with other robots it uses a probabilistic model of the robots
motions. The approach has been implemented and tested on real robots as
well as in extensive simulation runs. In different experiments we
demonstrate that our approach is well suited to control the motions of
a team of robots in a typical office environment and illustrate its advantages
over other techniques developed so far.
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Bibtex
@InProceedings{Benn00Pro,
author = {Bennewitz, M. and Burgard, W.},
title = { A Probabilistic Method
for Planning Collision-free Trajectories of Multiple Mobile Robots},
booktitle = {Proceedings of the workshop Service Robotics
- Applications and Safety Issues in an Emerging Market at the 14th European
Conference on Artificial Intelligence (ECAI)},
year = 2000,
}