Distributed Path Planning for Multi-Robot Teams based on Artificial Bee Colony
Distributed Path Planning for Multi-Robot Teams based on Artificial Bee Colony
Marco A. Contreras-Cruz, Jose J. Lopez-Perez and Victor Ayala-Ramirez
Marco A. Contreras-Cruz, Jose J. Lopez-Perez and Victor Ayala-Ramirez
Electronics Engineering Department, Universidad de Guanajuato, DICIS, Mexico
Electronics Engineering Department, Universidad de Guanajuato, DICIS, Mexico
Electronics Engineering Department, Universidad de Guanajuato, DICIS, Mexico
Electronics Engineering Department, Universidad de Guanajuato, DICIS, Mexico
Electronics Engineering Department, Universidad de Guanajuato, DICIS, Mexico
Electronics Engineering Department, Universidad de Guanajuato, DICIS, Mexico
In this paper, we propose a distributed planner method for multi-robot systems
based on Swarm Intelligence.
The method uses a distributed version of a priority based planner to compute
coordinated motions of multiple robots in parallel. The Artificial Bee Colony
algorithm is used to find velocity profiles that avoid collisions between robots
and that minimize the time of the path execution. The proposed planner is tested
in some transportation problems with scenarios as warehouses, offices, etc. We
compare the proposed method to a classic priority method that uses the proposed
coordination scheme to observe the advantages of our distributed method.
