期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 56, 期 5, 页码 422-436出版社
ELSEVIER
DOI: 10.1016/j.robot.2007.09.020
关键词
real-time path planning; decentralized agents; guaranteed collision-free; safety protocol; computational geometry
This paper presents a cooperative decentralized path-planning algorithm for a group of autonomous agents that provides guaranteed collision-free trajectories in real-time. The algorithm is robust with respect to arbitrary delays in the wireless traffic, possible sources being transmission time and error correction. Agents move on reserved areas which are guaranteed not to intersect, therefore ensuring safety. A handshaking procedure guarantees recent information states for the agents. Conflicts between agents are resolved by a cost-based negotiation process. The basic algorithm is augmented by the introduction of waypoints, which increase performance at the cost of additional wireless traffic. An implementation of the algorithm is tested in simulation and successfully applied to a real system of autonomous robots. The results are presented and discussed. (C) 2007 Elsevier B.V. All rights reserved.
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