A Framework for Multi Robot Guidance Control

Authors:
Onur Keskin;Erol Uyar
Affiliations:
Mechatronics Engineering Department, Dokuz Eylül University, Bornova İzmir, Turkey 35100;Mechatronics Engineering Department, Dokuz Eylül University, Bornova İzmir, Turkey 35100
Venue:
HoloMAS '09 Proceedings of the 4th International Conference on Industrial Applications of Holonic and Multi-Agent Systems: Holonic and Multi-Agent Systems for Manufacturing
Year:
2009

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Abstract

In this paper we present a framework for path planning and path finding for multiple mobile robots with global vision. Our framework model considers the agents' dynamic status and their environment with obstacles to perform given tasks. The global vision system provides feedback to main controller computer and mobile robots are directed towards to their tasks with avoiding obstacles and without any collision. Different kinds of scenario are prepared to simulate manipulating tasks and non-collision behavior with our framework. Experiment results with Lego Mindstorms NXT shows that our framework can be used where a multi robot system is needed with minimum resources.