Real-time multi-robot path planning revisited as a caching problem

Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Chao Chung Peng, Takanori Emaru

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

Path planning is a fundamental component of mobile robots. In case of large maps, path planning is a time consuming process, particularly for robots equipped with embedded computers and has adverse effects on the real-time response of the robots. This paper takes a fresh look at the path planning problem by considering it to be a caching or tabular-lookup problem. The robots 'cache' their generated paths and arm trajectories across various start and goal configurations. These cached paths are stored in a database accessible to robots in the network. Robot path planning is then reduced to a simple table-lookup which can be resolved in real-time. To overcome a cache-miss, a micro-grid and macro-grid based caching is proposed for real-time path generation for 'nearby' start and goal configurations. Another important characteristic of the proposed cache based path planning is that multiple robots also update the locations of the new obstacles in the map. This benefits other robots as they are able to get an updated information about the new obstacles in remote locations of the map, without explicitly discovering those obstacles by themselves. We show that by considering the robot path planning as a caching problem, robots can achieve faster and real-time responses, particularly in case of large maps with multiple robots in a sensor network.

原文English
主出版物標題Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
編輯Artde Donald Kin-Tak Lam, Stephen D. Prior, Teen-Hang Meen
發行者Institute of Electrical and Electronics Engineers Inc.
頁面350-353
頁數4
ISBN(電子)9781538643426
DOIs
出版狀態Published - 2018 六月 22
事件4th IEEE International Conference on Applied System Innovation, ICASI 2018 - Chiba, Japan
持續時間: 2018 四月 132018 四月 17

出版系列

名字Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

Other

Other4th IEEE International Conference on Applied System Innovation, ICASI 2018
國家Japan
城市Chiba
期間18-04-1318-04-17

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Hardware and Architecture
  • Energy Engineering and Power Technology
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation
  • Biomedical Engineering

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  • 引用此

    Ravankar, A., Ravankar, A. A., Kobayashi, Y., Peng, C. C., & Emaru, T. (2018). Real-time multi-robot path planning revisited as a caching problem. 於 A. D. K-T. Lam, S. D. Prior, & T-H. Meen (編輯), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018 (頁 350-353). (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASI.2018.8394606