Spatiotemporal MCA Approach for the Motion Coordination of Heterogeneous MRS

摘要

In this work, a collision-free motion-planning technique for multiple robots based on Multilayered Cellular Automata (MCA) has been studied. What we want to realize is a Coordinator for multi-robot systems which decides the motions of a team of robots while they interact with the environment and react as fast as possible to the dynamical events. Many authors have proposed different solutions for the Path/Motion Planning problem during the last twenty-five years for single and multiple robots. For example, a solution based on a geometrical description of the environment had been proposed since 1979 (e.g., The motion-planners (path-planners) working on these types of models generate very precise optimal trajectories and they can solve really difficult problems, also taking into account non-holonomic constraints, but they are also very time consuming. To face a real dynamical world with many events, a robot must constantly sense the world and re-plan as fast as possible, according to the newly acquired information. Other authors have developed alternative approaches less precise but more efficient: the Artificial Potential Fields Methods. In the eighties, Khatib first proposed this method for the real-time collision avoidance problem of a manipulator in a continuous space (Khatib, 1986). Jahanbin and Fallside first introduced a wave propagation algorithm in the Configuration Space C-Space on discrete maps (Distance Transform, Jahanbin & Fallside, 1988). In Zelinsky extended the Distance Transform to the Path Transform In LaValle in A solution in the C-Space-Time is proposed in It can be proven that these approaches are not complete. In this work, we want to design a motion coordinator for a set of heterogeneous mobile robot (different shapes and kinematics), able to determine the motions of the mobile agents Open Access Database www.intehweb.