Conflict free coordinated path planning for multiple robots using a dynamic path modification sequence |
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| Authors: | Shital S Chiddarwar N Ramesh Babu |
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| Affiliation: | 1. Department of Mechanical Engineering, Shri Ramdeobaba Kamla Nehru Engineering College, Nagpur, Maharashtra, India;2. Manufacturing Engineering Section, Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai — 600036, Tamilnadu, India;1. Department of Informatics, Széchenyi István University, Egyetem tér 1, 9026 Gy?r, Hungary;2. Department of Automation and Information Technology, Transilvania University of Brasov, Str. Mihai Viteazu 5, Corp V, et. 3, 500174 Brasov, Romania;3. Department of Automation and Applied Informatics, Politehnica University of Timisoara, Bd. V. Parvan 2, 300223 Timisoara, Romania;4. Department of Logistics and Forwarding, Széchenyi István University, Egyetem tér 1, 9026 Gy?r, Hungary;1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, PR China;2. School of Mathematical Sciences, Liaocheng University, Liaocheng 252000, PR China;3. The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science & Technology, Wuhan, PR China;4. School of Computer Science, Liaocheng University, Liaocheng 252000, PR China;1. Department of Mechanical Engineering and Science, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 606-8501, Japan;2. Mitsubishi Electric Corporation, Tsukaguchi-honmachi 8-1-1, Amagasaki, Hyogo, Japan |
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| Abstract: | In this paper, a practically viable approach for conflict free, coordinated motion planning of multiple robots is proposed. The presented approach is a two phase decoupled method that can provide the desired coordination among the participating robots in offline mode. In the first phase, the collision free path with respect to stationary obstacles for each robot is obtained by employing an A* algorithm. In the second phase, the coordination among multiple robots is achieved by resolving conflicts based on a path modification approach. The paths of conflicting robots are modified based on their position in a dynamically computed path modification sequence (PMS). To assess the effectiveness of the developed methodology, the coordination among robots is also achieved by different strategies such as fixed priority sequence allotment for motion of each robot, reduction in the velocities of joints of the robot, and introduction of delay in starting of each robot. The performance is assessed in terms of the length of path traversed by each robot, time taken by the robot to realize the task and computational time. The effectiveness of the proposed approach for multi-robot motion planning is demonstrated with two case studies that considered the tasks with three and four robots. The results obtained from realistic simulation of multi-robot environment demonstrate that the proposed approach assures rapid, concurrent and conflict free coordinated path planning for multiple robots. |
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