Real time planning method for multiple mobile robots

Abstract

This paper proposes a motion/task planning method for multiple mobile robots. It has two characteristics as follows: (1) facility of implementing tasks, and (2) adapting ability to environment. A layered hierarchical structure is adopted for the proposed planner. The lower layer called "virtual impedance method" makes a real-time plan to follow the generated trajectory while avoiding obstacles and other robots. The upper layer determines the design parameters of the lower layer which can express "motion skills". Simulation results on motion planning and transporting tasks indicate effectiveness of the proposed method.