Multi-robotic system path planning based on RTM

Multi-robotic system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents exploration mode and goal oriented mode of path planning for multi-robotic system using RTM as communication platform. We use the Player Project works as simulati...

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Bibliographic Details
Published in2012 Proceedings of SICE Annual Conference (SICE) pp. 1855 - 1858
Main Authors Ke Wang, Songmin Jia, Yuchen Li, Xiuzhi Li
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2012
Subjects
ICP
Iterative closest point algorithm
Multi-robotic system
Optimization
Path planning
Robot sensing systems
RTM
SP 2 ATM
Topology
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ISBN9781467322591
1467322598

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Summary:Multi-robotic system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents exploration mode and goal oriented mode of path planning for multi-robotic system using RTM as communication platform. We use the Player Project works as simulation platform to realize topological map for multi-robotic system and use SP 2 ATM algorithm for path planning. In order to improve the effectiveness of the path planning, ICP algorithm is used for robot's localization. This paper presents the architecture of the proposed method and gives some experiments to verify the effectiveness.
ISBN:9781467322591
1467322598