Research on Multi-Robot Formation on Two-Dimensional Plane

DOI

抄録

Mobile robots are playing an increasingly important role in both service and manufacturing industry. The management of multiple mobile robots is a very important issue on the research of mobile robotics. From a mathematical perspective, this paper discusses the problem of multiple robots on a two-dimensional plane reaching the designated positions in the shortest time to complete formation transformation. We improved the algorithm proposed by Hsia, Li and Su and proposed a new algorithm using a determinant and the Munkres assignment algorithm. Finally, the new algorithm is compared with the path distribution obtained by the Monte Carlo method under different numbers of robots and the excellence of the new algorithm has been verified.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390862931515353600
  • DOI
    10.5954/icarob.2024.os5-2
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

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