Transporting planning of multiple objects by robot groups (4rd. rep: motion planning by robot groups in unknown environment)

摘要

This paper proposes a method to plan a path for iterative transportation of many objects in unknown environment by a group of robots that use proximity sensors. To achieve the learning of path, learned visibility graph is used. To avoid collisions between robots we proposed two methods: weighting links in the using graph and delivering task and path each other on the link. Effectiveness of the method is shown by experiment.