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Advisor(s)
Abstract(s)
Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real
time, rather than planning in advance, by using a temporal estimation of the robot’s positions at
any given time. In this article, the implementation of a control system for multi-robot applications
that operate in environments where communication faults can occur and where entire sections of
the environment may not have any connection to the communication network will be presented.
This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks
whether the robot’s movements are synchronized. The implemented system allowed the creation
and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA*
algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics
and the Lazarus development environment, it was possible to simulate the execution of several
different missions by the implemented system and analyze their results.
Description
Keywords
Multi-AGV control Path planning Timed enhanced A* Tolerance to communication faults
Pedagogical Context
Citation
Matos, Diogo; Costa, Pedro; Lima, José; Costa, Paulo (2021). Multi AGV coordination tolerant to communication failures. Robotics. 10:2
Publisher
MDPI