Fast motion planning for multiple moving robots
- 7 January 2003
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 322-326 vol.1
- https://doi.org/10.1109/robot.1989.100008
Abstract
The author presents an efficient solution to the motion-planning problem for multiple translating robots in the plane. It is shown that careful priority assignment can greatly reduce the average running time of the planner. A priority assignment method is introduced which attempts to maximize the number of robots which can move in a straight line form their start point to their goal point, thereby minimizing the number of robots for which expensive collision-avoiding search is necessary. This prioritization method is extremely effective in sparse workspaces where the moving robots are the primary obstacle.Keywords
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