3rd International ICST Conference on Collaborative Computing: Networking, Applications and Worksharin

Research Article

Collaborative Motion Planning of Autonomous Robots

Cite
BibTeX Plain Text
  • @INPROCEEDINGS{10.1109/COLCOM.2007.4553851,
    author={Takashi Okada and Razvan Beuran and Junya Nakata and Yasuo Tan and Yoichi Shinoda},
    title={Collaborative Motion Planning of Autonomous Robots},
    proceedings={3rd International ICST Conference on Collaborative Computing: Networking, Applications and Worksharin},
    publisher={IEEE},
    proceedings_a={COLLABORATECOM},
    year={2008},
    month={6},
    keywords={Autonomous mobile networked robot  emulation  large-scale simulation  motion planning  real time},
    doi={10.1109/COLCOM.2007.4553851}
}
  • Takashi Okada
    Razvan Beuran
    Junya Nakata
    Yasuo Tan
    Yoichi Shinoda
    Year: 2008
    Collaborative Motion Planning of Autonomous Robots
    COLLABORATECOM
    IEEE
    DOI: 10.1109/COLCOM.2007.4553851
Takashi Okada1,2,3,*, Razvan Beuran1,2, Junya Nakata1,2,3, Yasuo Tan1,2,3, Yoichi Shinoda1,2,4
  • 1: Hokuriku Research Center, National Institute of Information and Communications Technology, Japan
  • 2: Internet Research Center, Japan Advanced Institute of Science and Technology, Ishikawa Japan
  • 3: School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa Japan
  • 4: Center for Information Science, Japan Advanced Institute of Science and Technology, Ishikawa Japan
*Contact email: tk-okada@jaist.ac.jp

Abstract

In disaster areas, office buildings, or at home, multiple autonomous networked mobile robots may act instead of human beings. These robots have to move to their destination so as to perform their function. For this purpose they need to be able to recognize the changes in the surrounding environment. They are equipped with a motion-planning method in order to avoid in real time collisions with other robots or obstacles. In this paper we propose a motion planning method based on PRM (Probabilistic Roadmap) algorithm. To evaluate our method, we constructed an experiment platform based on StarBED, which is a large-scale network testbed. By using the virtual environment manager Map Manager, the WLAN emulator QOMET, and the experiment-support software RUNE we are able to perform emulation of large-scale autonomous networked mobile robot systems. The experimental results confirm the usefulness of collaborative motion planning, which results in reaching faster the destination and in less frequent re-planning.

Keywords
Autonomous mobile networked robot emulation large-scale simulation motion planning real time
Published
2008-06-27
Publisher
IEEE
Modified
2011-07-20
http://dx.doi.org/10.1109/COLCOM.2007.4553851
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