Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment

Authors:
Jae Byung Park;Beom Hee Lee
Affiliations:
School of Electrical Engineering and Computer Sciences, Seoul National University, Seoul, Korea;School of Electrical Engineering and Computer Sciences, Seoul National University, Seoul, Korea
Venue:
ICOST'07 Proceedings of the 5th international conference on Smart homes and health telematics
Year:
2007

Citing 6
Cited 1

Real-time obstacle avoidance for manipulators and mobile robots

International Journal of Robotics Research
Collision-free motion planning of two robots

IEEE Transactions on Systems, Man and Cybernetics
An algorithm for planning collision-free paths among polyhedral obstacles

Communications of the ACM
Motion Planning in Dynamic Environments

Motion Planning in Dynamic Environments
Introduction to Algorithms

Introduction to Algorithms
Constructing the generalized local Voronoi diagram from laser range scanner data

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans

Parameterized collision region for centralized motion planning of multiagents along specified paths

Robotica

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper proposes an approach to collision-free navigation for multiple moving agents in a smart home environment using the visibility map which is one of road maps. The visibility map plans collision-free paths of agents against stationary obstacles. The collision-free paths are represented by Hermite curves taking into consideration smoothness of the path and its first derivative. For collision-free motion planning among multiple moving agents, the collision map scheme proposed to effectively analyze collisions between two robots is employed. According to the result of the collision analysis, time scheduling is applied for realizing collision avoidance. Simulation results show the effectiveness and feasibility of the proposed approach in collision-free navigation of multiple moving agents.