An image-based integration system for real-time dispatching of multi-robots
Li-Che Chen, Yu Fu, Tien-Ruey Hsiang, Sheng‐Luen Chung · 2009
The purpose of this paper is to design an image-based platform for real-time dispatching of multi-robots, in the context of, for example, supporting a courier transportation system. With this integration platform, we are able to compare efficiencies of different dispatching policies. With the global information regarding the robots and pick-up points available from the image process, this real-time dispatching platform is capable of detecting current positions of robots and their relative positions to the destination, of planning online motion trajectories for each robot to reach its destination smoothly, and of maintaining collision avoidance while robots are moving. Different dispatching strategies, as a combination of pre-positioning of robots and swapping strategies of responsible zones for individual robots in transportation operation, are conducted on a miniature implementation platform to simulate corresponding performance of response time.