Motion Planning of Multiple Mobile Robots

摘要

As mobile robots expand their working area, motion planning of multiple mobile robots becomes more important than ever. In this paper, various researches are surveyed and categorized from the two viewpoints: c entralized / decentralized mechanism, and o n-1 i ne/o ff- line system. Since three kinds of combinations may be realizable, the three are discussed. The imotion planning of a group of mobile robots is also discussed. It is difficult to evaluate each research. We therefore proposed two standard problems. The first has 8 mobile robot!; who come easily to a deadlock. The second includes 2 groups of 4 robots respectively, which needs cooperative actions to each other.