The path planning problem for multiple mobile robots is addressed in this study. Given the available mobile robots and the tasks to be executed, at the highest planning level a first problem is the assignment of tasks to robot or AGV, the second is path planning. In this case a quickplanning is desirable for computing feasible paths in a given workspace without congestion. The proposed solution is based on the theory of conformal transformations that can be used to map the given workspace in a more appealing geometric setting. Some examples are considered to illustrate the proposed technique and its efficiency
Reciprocal root locus approach to path planning for multiple mobile robots
LANDI, ALBERTO;
1995-01-01
Abstract
The path planning problem for multiple mobile robots is addressed in this study. Given the available mobile robots and the tasks to be executed, at the highest planning level a first problem is the assignment of tasks to robot or AGV, the second is path planning. In this case a quickplanning is desirable for computing feasible paths in a given workspace without congestion. The proposed solution is based on the theory of conformal transformations that can be used to map the given workspace in a more appealing geometric setting. Some examples are considered to illustrate the proposed technique and its efficiencyFile in questo prodotto:
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