Distributed Docking Station System for Mobile Robots
Abhijeet A. Ravankar, Ankit A. Ravankar · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2022
This paper proposes a multi-robot path planner for intelligently accessing a limited number of charging points distributed on the map. Unlike traditional path planners, which mainly consider the shortest path criterion to generate paths, the proposed planner also considers the remaining battery power of the robots, task priority, and robot’s location in the map. It allocates the most appropriate charging station to the robots, which require recharging. Simulation results show that the proposed planner can reduce trajectory re-planning, and plan efficient paths to the available charging points.