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Cooperative Multi-robot for Path Planning

Abouei Mehrizi, Mohammad | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47839 (19)
  4. University: Sharif University of Technology
  5. Department: Computer Engineering
  6. Advisor(s): Ghodsi, Mohammad
  7. Abstract:
  8. This thesis examines cooperating robots with minimal sensing to find the particular target described in unknown surroundings. Due to the very high cost sensor robots, Recently researchers are going to use of simple sensors for robot in special purpose and reduce costs. Of course it is clear that doing so will decrease the accuracy and efficiency of the robot and we are going to provide an efficient algorithm for performing the desired action with a good competitive factor. In this thesis the robots movement is online and robots have no knowledge of their environment (such as maps), they only using the data is gathered from the sensors to decide how to move. The accuracy of this information may vary depending on the number and type of sensors used. There exists various types of robots with limited sensors, in this thesis robots are only able to detect discontinuities of environment and can only move along these discontinuities. The issue that will be examined in this thesis is, how to move the robots in a polygon called street to find a specific target. In other words, the robots in a street polygon from the point s start to move and cooperate together to find the target point t. In this case, the aim is minimizing the least path of the robots, and if one of the robots reaches the target, it will send a message to the other robot to know. In this thesis we present an algorithm that robots with a maximum of two times the length of the shortest path between s and t find the target point t and show that the competitive ratio is tight for the algorithm
  9. Keywords:
  10. Path Planning ; Visibility Algorithm ; Robot with Minimal Sensing ; Path Exploration ; Robots Cooperation

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