Motion planning of multiple mobile robots by a combination of learned visibility graphs and virtual impedance

摘要

A motion planning algorithm for multiple mobile robots is proposed in this paper. A hierarchical architecture with two layers 'learned visibility graph layer (upper layer)' and 'virtual impedance layer (lower layer)' (one of the potential field planning method) is presented. This system has the following characteristics: (1) is applicable to .unknown dynamic environments, (2) is applicable to distributed multiple robot systems and (3) is capable of adequate path generation and motion. At the upper layer, efficient exploration of environments makes it possible to generate sub-shortest paths that avoid static obstacles. At the lower layer, on-line avoidance can be made with virtual impedance against moving obstacles such as other robots. Simulation results show the validity of the proposed method.