Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment
Automation, Control and Intelligent Systems
Volume 1, Issue 2, April 2013, Pages: 16-23
Received: Dec. 28, 2012; Published: Apr. 2, 2013
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Authors
Suparna Roy, ETCE Department, Jadavpur University, Kolkata-700032
Dhrubojyoti Banerjee, ETCE Department, Jadavpur University, Kolkata-700032
Chiranjib Guha Majumder, ETCE Department, Jadavpur University, Kolkata-700032
Amit Amit Konar, ETCE Department, Jadavpur University, Kolkata-700032
R. Janarthanan, Jaya College of Engineering, Chennai, Tamil Nadu
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Abstract
This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simula-tion environment then the entire work has been implemented on Khepera II mobile robot. The performance of the above mentioned approach has been found to be satisfactory compared to the classical non-predictive approaches of dynamic obstacle avoidance.
Keywords
Linear Prediction, Particle Swarm Optimization, Multi-Robot Motion Planning
To cite this article
Suparna Roy, Dhrubojyoti Banerjee, Chiranjib Guha Majumder, Amit Amit Konar, R. Janarthanan, Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment, Automation, Control and Intelligent Systems. Vol. 1, No. 2, 2013, pp. 16-23. doi: 10.11648/j.acis.20130102.11
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