This paper proposes a scheduling and trajectory planning method that constructs collision-free and optimized trajectories for a team of multiple robots. The proposed method consists of path planning and scheduling. First, each robot performs path planning using a state roadmap. Using a state roadmap, each robot can find a path that navigates the robot to the destination without collisions with static obstacles. Second, the scheduler adjusts the departing times and the velocities at the via-points of all robots to avoid collisions between the robots and to minimize the sum of arrival times of the robots. The proposed method is evaluated through simulations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multi-robot scheduling and trajectory planning using state roadmap


    Beteiligte:
    Tazaki, Yuichi (Autor:in) / Suzuki, Tatsuya (Autor:in)


    Erscheinungsdatum :

    2014-09-01


    Format / Umfang :

    1523044 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    TRAJECTORY PLANNING FOR AUTOMATED PARKING USING MULTI-RESOLUTION STATE ROADMAP CONSIDERING NON-HOLONOMIC CONSTRAINTS

    Fuji, H. / Xiang, J. / Tazaki, Y. et al. | British Library Conference Proceedings | 2014


    A roadmap to robot motion planning software development

    Pérez Ruiz, Alexander / Rosell Gratacòs, Jan | BASE | 2009

    Freier Zugriff

    MK-RRT*: Multi-Robot Kinodynamic RRT* Trajectory Planning

    Cain, Brennan / Kalaitzakis, Michail / Vitzilaios, Nikolaos | IEEE | 2021


    Trajectory Planning for Multi-arm Space Walking Robot

    Chu, Xiaoyu / Zhang, Jingrui / Hu, Quan et al. | AIAA | 2015