Mobile robots frequently find themselves in a circumstance where they need to find a trajectory to another position in their environment, subject to constraints postured by obstacles and the capabilities of the robot ...
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ISBN:
(纸本)9783038351801
Mobile robots frequently find themselves in a circumstance where they need to find a trajectory to another position in their environment, subject to constraints postured by obstacles and the capabilities of the robot itself. This study compared path planning algorithms for mobile robots to move efficiently in a collision free grid based static environment. Two algorithms have been selected to do the comparison namely wavefrontalgorithm and bug algorithm. The wavefrontalgorithm involves a breadth-first search of the graph beginning at the goal position until it reaches the start position. The bug algorithm uses obstacles borders as guidance toward a goal with restricted details about the environment. The algorithms are compared in terms of parameters such as execution time of the algorithm and planned path length by using Player/Stage simulation software. Results shown that wavefrontalgorithm is a better path planning algorithm compared to bug algorithm in static environment.
Assignment Problem was well studied in the past 50 years, and is of great value in operations research and engineering. With the growing size of these problems and the new complexities introduced over the years, multi...
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ISBN:
(纸本)9783642226052
Assignment Problem was well studied in the past 50 years, and is of great value in operations research and engineering. With the growing size of these problems and the new complexities introduced over the years, multi robot task assignment problems have become an important focus of assignment research. The work presented in this paper considers the scenario where multiple destination sites are available. The task of the controller is to assign a robot to each site as soon as possible in such a way so that robots can reach their destination with minimum travelling distance. Efficient algorithms for solving problem of this type have important applications in industries and home automation. Our main contributions are twofold: (a) A wavefront based path planning method to compute the cost for the performance of each robot on each target (destination);and (b) An assignment algorithm for the assignment of robots to targets so that the sum of the total cost so obtained is as minimum as possible. The proposed approach has been tested through computer simulation. Experimental results demonstrate that our algorithm runs fast and produces near-optimal solutions on randomly generated instances.
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