Path planning of a multiple mobile robot system

  • Authors:

  • Sheng-Ven Shiau;Kuo-Lan Su;Chun-Chieh Wang;Jr-Hung Guo

  • Affiliations:

  • Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, Yunlin, Taiwan;Department of Electrical Engineering, National Yunlin University of Science and Technology, Douliou, Yunlin, Taiwan 640;Department of Electronic Engineering, Chienkuo Technology University, Changhua, Taiwan;Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, Yunlin, Taiwan

  • Venue:
  • Artificial Life and Robotics
  • Year:
  • 2011

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Abstract

We present path-planning techniques for a multiple mobile robot system. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robot is an MCS-51 chip, and it acquires detection signals from sensors through I/O pins. It receives commands from the supervising computer via a wireless RF interface, and transmits the status of the robots to the supervising computer via a wireless RF interface. The mobile robot system is a module-based system, and contains a controller module (including two DC motors and drivers), an obstacle detection module, a voice module, a wireless RF module, an encoder module, and a compass detection module. We propose an evaluation method to arrange the position of the multiple mobile robot system, and develop a path-planning interface on the supervising computer. In the experimental results, the mobile robots were able to receive commands from the supervising computer, and to move their next positions according to the proposed method.