Абстрактный

A Review: Priority Based Motion Control of Multiple Robot Systems

Abhay .A. Deshpande, Dr. Nataraj.K.R

Networks formation between multiple robots and establishing a communication link is more important. Using its own motion planner and based on the current world model, robot constructs a collision free trajectory. The technique employed for trajectory planning is kinodynamic randomised motion planner techniques. The motion planning is made more efficient and feasible by using priority systems. Employing priority systems helps the robots to act spontaneously when a problem is encountered. Based on the priorities, a robot plans its path. A robot with low priority has to re-plan its path allowing the robot with high priority to continue along its path. There are two types of priority systems discussed in this paper i.e. user-defined and robot-determined priority system. Among the two priority systems discussed, robot-determined priority system gives better results which are later showed using a test platform. This paper discusses a new motion planning algorithm for multiple robots which can plan trajectories in real time and can be implemented in the physical world.