HYBRID DECENTRALIZED MULTI-ROBOTS NAVIGATION STRATEGY

This paper deals with navigation of multi-robots system and the avoidance of static and dynamic obstacles. Hence, a hybrid multi-robots navigation strategy in crowded environment is presented by fusing the commands of centralized and decentralized coordinators. Therefore, the free-optimal path of ea...

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Bibliographic Details
Published inJournal of manufacturing technology research Vol. 13; no. 1/2; pp. 13 - 27
Main Authors Belaidi, Hadjira, Abad, Malik, Bouhamidi, Ahmed Essadik
Format Journal Article
LanguageEnglish
Published Hauppauge Nova Science Publishers, Inc 01.01.2021
Subjects
Algorithms
Collision avoidance
Collision dynamics
Communication
Listening
Multiple robots
Navigation
Obstacle avoidance
Planning
Robots
Software
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Summary:This paper deals with navigation of multi-robots system and the avoidance of static and dynamic obstacles. Hence, a hybrid multi-robots navigation strategy in crowded environment is presented by fusing the commands of centralized and decentralized coordinators. Therefore, the free-optimal path of each robot is planned by a centralized coordinator; then, it calculates the possibility of collision between the pre-planned trajectories. Consequently, the robots concerned by the collision have to take decision to avoid the collision by applying the technique of priority between robots and accomplish the execution of it task. Thus, in this case each robot is considered as a decentralized coordinator.
ISSN:1943-8095