Coordinating the motion of mobile robots using Cellular Neural Network

• Autorzy: Siemiątkowska B.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a method for motion planning for a group of mobile robots. The goal of the group is to move through an environment and to reach a destination while maintaining the desired formation. The map of the environment is represented as a grid of cells. A state of each cell is determined. It can be free, occupied by the obstacle, occupied by a robot. The trajectories of the robots are planned using the modification of diffusion method. The algorithm is implemented using Cellular Neural Network. This kind of implementation allows of efficient path planning and to solve conflicts between robots. Computer simulations were preformed in order to proof the efficiency of the approach.

Słowa kluczowe

EN

neural networks; mobile robot; mapping; navigation; multi-robots systems; cellular neural network

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2008
• Tom: Vol. 2, No. 2
• Strony: 65--69
• Opis fizyczny: Bibliogr. 7 poz., rys.

Twórcy

autor

Siemiątkowska B.

• PhD works for Warsaw University of Technology, Faculty of Mechatronics, Św. Andrzeja Boboli 8 street, 02-525 Warsaw, Poland and Institute of Fundamental Technological Research, Polish Academy of Sciences, 00-049 Świętokrzyska str., warsaw, Poland,

Bibliografia

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