Paper Info
Title
Dynamic priority allocation for conflict free coordinated manipulation of multiple agents
Abstract
This article presents a decoupled approach for conflict free coordinated manipulation of multiple industrial robot agents operating in a typical industrial environment. Decoupled method proposed in this work plans the path for the robots in two steps. In the first step, for each participating robot agent a path collision free with respect to stationary obstacle is obtained. The coordination among agents is achieved in the second step of the approach by use of off-line strategy for conflict resolution. The key objective of the conflict resolution is dynamic assignment of priorities for path modification of the robot agents. Thus, the agents involved in a local conflict situation coordinate their movement by adopting the lowest movement cost motion paths. Results obtained from realistic simulation of multi-robot agent environment with three industrial robots demonstrate that the proposed approach assures the rapid, concurrent and conflict free coordinated motion of the robot agents.
Year
DOI
Venue
2009
10.1109/COASE.2009.5234186
CASE
Keywords
Field
DocType
multiple industrial robot agent,industrial robot,decoupled approach,robot agent,dynamic priority allocation,conflict resolution,multiple agent,typical industrial environment,local conflict situation,path collision,path modification,data mining,motion control,planning,path planning,mobile robots,robot kinematics
Motion planning,Obstacle,Motion control,Conflict resolution,Robot kinematics,Control engineering,Industrial robot,Engineering,Robot,Mobile robot
Conference
ISSN
Citations 
PageRank 
2161-8070
1
0.39
References 
Authors
6
2
Name
Order
Citations
PageRank
Shital S. Chiddarwar1578.91
N. Ramesh Babu2806.84