Space D*

Brazilian Computer Society. Journal

Silvia S. C. Botelho¹  Luan Silveira²  Alessandro de L. Bicho²  Paulo L. Drews³  Nelson L. Duarte Filho⁴  Renan Q. Maffei⁴ 

[1] C3, Universidade Federal do Rio Grande—Centro de CiêFURG, Rio Grande, Brazil;ncias Computacionais—

关键词: Path-planning;    Multi-robot systems;    Collision avoidance;    Space Colonization algorithm;    D* Lite algorithm;   

DOI  :  10.1007/s13173-012-0071-9

学科分类：农业科学（综合）

来源: Springer U K

【 摘 要 】

This paper describes a new method of path-planning for multiple robots in unknown environments. The method, called Space D*, is based on two algorithms: the D*, which is an incremental graph search algorithm, and the Space Colonization algorithm, previously used to simulate crowd behaviors. The path-planning is achieved through the exchange of information between the robots. So decentralized, each robot performs its path-planning, which provides an obstacle-free path with the least number of robots around. The major contribution of the proposed method is that it generates paths in spacious environments facilitating the control of robots and thus presenting itself in a viable way for using in areas populated with multiple robots. The results obtained validate the approach and show the advantages in comparison with using only the D* method.

【 授权许可】

CC BY