A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape

Tongpo Zhang; Chenyuan Li; Xu(Judy) Zhu; Enggee Lim; Fei Ma; Limin Yu

doi:10.3233/FAIA220007

A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape

Tongpo Zhang, Chenyuan Li, Xu(Judy) Zhu, Enggee Lim, Fei Ma, Limin Yu^*

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

This paper proposes an algorithm to improve the efficiency of the multi-robot system in simulated global information map containing obstacles. The designed multi-AGV scheduling algorithm is based on an optimal shortest path algorithm with the combination of the waiting mode and motion coordination. The proposed shortest path algorithm not only has lower time delay but also decreases the possibility of collision of the multi-robot system. In addition, simulated global information maps are established to test the efficacy of the algorithm.

Original language	English
Title of host publication	Design Studies and Intelligence Engineering
Editors	Lakhmi C. Jain, Valentina Emilia Balas, Qun Wu, Fuqian Shi
Publisher	IOS Press BV
Pages	24-32
Number of pages	9
ISBN (Electronic)	9781643682563
DOIs	https://doi.org/10.3233/FAIA220007
Publication status	Published - 2022

Publication series

Name	Frontiers in Artificial Intelligence and Applications
Volume	347
ISSN (Print)	0922-6389
ISSN (Electronic)	1879-8314

Keywords

Robot planning
collision avoidance
scheduling optimization
shortest path algorithm

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10.3233/FAIA220007

Cite this

Zhang, T., Li, C., Zhu, XJ., Lim, E., Ma, F., & Yu, L. (2022). A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape. In L. C. Jain, V. E. Balas, Q. Wu, & F. Shi (Eds.), Design Studies and Intelligence Engineering (pp. 24-32). (Frontiers in Artificial Intelligence and Applications; Vol. 347). IOS Press BV. https://doi.org/10.3233/FAIA220007

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title = "A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape",

abstract = "This paper proposes an algorithm to improve the efficiency of the multi-robot system in simulated global information map containing obstacles. The designed multi-AGV scheduling algorithm is based on an optimal shortest path algorithm with the combination of the waiting mode and motion coordination. The proposed shortest path algorithm not only has lower time delay but also decreases the possibility of collision of the multi-robot system. In addition, simulated global information maps are established to test the efficacy of the algorithm.",

keywords = "Robot planning, collision avoidance, scheduling optimization, shortest path algorithm",

author = "Tongpo Zhang and Chenyuan Li and Xu(Judy) Zhu and Enggee Lim and Fei Ma and Limin Yu",

note = "Funding Information: This research was funded by Research Enhancement Fund of XJTLU (REF-19-01-04), National Natural Science Foundation of China (NSFC) (Grant No. 61501380), and by AI University Research Center (AI-URC) and XJTLU Laboratory for Intelligent Computation and Financial Technology through XJTLU Key Programme Special Fund (KSF-P-02). Publisher Copyright: {\textcopyright} 2022 The authors and IOS Press.",

year = "2022",

doi = "10.3233/FAIA220007",

language = "English",

series = "Frontiers in Artificial Intelligence and Applications",

publisher = "IOS Press BV",

pages = "24--32",

editor = "Jain, {Lakhmi C.} and Balas, {Valentina Emilia} and Qun Wu and Fuqian Shi",

booktitle = "Design Studies and Intelligence Engineering",

}

A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape. / Zhang, Tongpo; Li, Chenyuan; Zhu, Xu(Judy) et al.
Design Studies and Intelligence Engineering. ed. / Lakhmi C. Jain; Valentina Emilia Balas; Qun Wu; Fuqian Shi. IOS Press BV, 2022. p. 24-32 (Frontiers in Artificial Intelligence and Applications; Vol. 347).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape

AU - Zhang, Tongpo

AU - Li, Chenyuan

AU - Zhu, Xu(Judy)

AU - Lim, Enggee

AU - Ma, Fei

AU - Yu, Limin

N1 - Funding Information: This research was funded by Research Enhancement Fund of XJTLU (REF-19-01-04), National Natural Science Foundation of China (NSFC) (Grant No. 61501380), and by AI University Research Center (AI-URC) and XJTLU Laboratory for Intelligent Computation and Financial Technology through XJTLU Key Programme Special Fund (KSF-P-02). Publisher Copyright: © 2022 The authors and IOS Press.

PY - 2022

Y1 - 2022

N2 - This paper proposes an algorithm to improve the efficiency of the multi-robot system in simulated global information map containing obstacles. The designed multi-AGV scheduling algorithm is based on an optimal shortest path algorithm with the combination of the waiting mode and motion coordination. The proposed shortest path algorithm not only has lower time delay but also decreases the possibility of collision of the multi-robot system. In addition, simulated global information maps are established to test the efficacy of the algorithm.

AB - This paper proposes an algorithm to improve the efficiency of the multi-robot system in simulated global information map containing obstacles. The designed multi-AGV scheduling algorithm is based on an optimal shortest path algorithm with the combination of the waiting mode and motion coordination. The proposed shortest path algorithm not only has lower time delay but also decreases the possibility of collision of the multi-robot system. In addition, simulated global information maps are established to test the efficacy of the algorithm.

KW - Robot planning

KW - collision avoidance

KW - scheduling optimization

KW - shortest path algorithm

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U2 - 10.3233/FAIA220007

DO - 10.3233/FAIA220007

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AN - SCOPUS:85127298561

T3 - Frontiers in Artificial Intelligence and Applications

SP - 24

EP - 32

BT - Design Studies and Intelligence Engineering

A2 - Jain, Lakhmi C.

A2 - Balas, Valentina Emilia

A2 - Wu, Qun

A2 - Shi, Fuqian

PB - IOS Press BV

ER -

A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape

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