Robot Path Planning and Cooperation

丛 书 名：Studies in Computational Intelligence

版本说明：1st ed. 2018

作     者：Anis Koubaa Hachemi Bennaceur Imen Chaari Sahar Trigui Adel Ammar Mohamed-Foued Sriti Maram Alajlan Omar Cheikhrouhou Yasir Javed 

I S B N：(纸本) 9783319770406 

出 版 社：Springer International Publishing 

出 版 年：2018年

主 题 词：Robots 

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

摘      要：This book presents extensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem. It is the first book to provide a comprehensive solution for using these techniques in large-scale environments containing randomly scattered obstacles. The research conducted resulted in tangible results both in theory and in practice. For path planning, new algorithms for large-scale problems are devised and implemented and integrated into the Robot Operating System (ROS). The book also discusses the parallelism advantage of cloud computing techniques to solve the path planning problem, and, for multi-robot task allocation, it addresses the task assignment problem and the multiple traveling salesman problem for mobile robots applications. In addition, four new algorithms have been devised to investigate the cooperation issues with extensive simulations and comparative performance evaluation. The algorithms are implemented and simulated in MATLAB and Webots.