Abstract
In this work, the path planning problem of robotics group is surveyed in the context of multi-robot transportation tasks on an intelligent warehouse. The mainly researches focused on the a shortest path theory and algorithm for single robot system. To solve the path planning problem on multi-robot systems, a novel approach is presented for multi-robot systems in an intelligent warehouse by using the method of artificial potential function (APF) in this paper. The proposed improving method of APF that motioned the strategy of wall-following with priority and how to solve the unavoidable troubles in obstacle avoidance for multi-robot systems such as local minima, non-reachable target, collision and traffic jams. Finally, several numerical simulations were provided to show the effectiveness, and the performance of the proposed method with the theoretical results.
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The APF was first introduced by Khatib in 1985 [13], which is the assumption that a robot moves in an abstract artificial potential field, which is made up of an attractive potential and a series of repulsive potentials.
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Acknowledgment
This research was supported by the National Natural Science Foundation of China (No. 61503291).
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Chen, H., Wang, Q., Yu, M., Cao, J., Sun, J. (2018). Path Planning for Multi-robot Systems in Intelligent Warehouse. In: Xiang, Y., Sun, J., Fortino, G., Guerrieri, A., Jung, J. (eds) Internet and Distributed Computing Systems. IDCS 2018. Lecture Notes in Computer Science(), vol 11226. Springer, Cham. https://doi.org/10.1007/978-3-030-02738-4_13
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