Efficient multi-robot path planning in real environments: a centralized coordination system

IF 2.1 Q3 ROBOTICS

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-13 DOI:10.1007/s41315-024-00378-3

Diogo Miguel Matos, Pedro Costa, Héber Sobreira, Antonio Valente, José Lima

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Abstract

With the increasing adoption of mobile robots for transporting components across several locations in industries, congestion problems appear if the movement of these robots is not correctly planned. This paper introduces a fleet management system where a central agent coordinates, plans, and supervises the fleet, mitigating the risk of deadlocks and addressing issues related to delays, deviations between the planned paths and reality, and delays in communication. The system uses the TEA* graph-based path planning algorithm to plan the paths of each agent. In conjunction with the TEA* algorithm, the concepts of supervision and graph-based environment representation are introduced. The system is based on ROS framework and allows each robot to maintain its autonomy, particularly in control and localization, while aligning its path with the plan from the central agent. The effectiveness of the proposed fleet manager is demonstrated in a real scenario where robots operate on a shop floor, showing its successful implementation.

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真实环境中高效的多机器人路径规划：集中协调系统

随着工业中越来越多地采用移动机器人在多个地点运输部件，如果不正确规划这些机器人的移动，就会出现拥堵问题。本文介绍了一个由中央代理协调、规划和监督车队的车队管理系统，该系统可降低僵局风险，并解决与延迟、规划路径与实际情况之间的偏差以及通信延迟相关的问题。该系统使用基于 TEA* 图的路径规划算法来规划每个代理的路径。在使用 TEA* 算法的同时，还引入了监督和基于图的环境表示概念。该系统基于 ROS 框架，允许每个机器人保持自主性，特别是在控制和定位方面，同时使其路径与中央代理的计划保持一致。拟议的车队管理器在车间机器人运行的真实场景中展示了其有效性，表明其成功实施。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Intelligent Robotics and Applications ROBOTICS-

CiteScore

3.80

自引率

5.90%

发文量

期刊介绍： The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications