1A2-A06 Multi-Robot Scheduling and Trajectory Planning Using Variable-Resolution Roadmap(Cooperation Control of Multi Robots)
Takayuki Yamada, Jingyu Xiang, Yuichi Tazaki, Tatsuya Suzuki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
This paper proposes a motion planning method that constructs collision-free and optimized trajectories for multi-robot. The proposed method performs two planning. First, each robot performs path planning using Variable-resolution Velocity Roadmap(VVR). VVR includes position information and velocity information. Using VVR, each robot can find a path that navigates the robot to the destination in shortest time while avoiding 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.