The problem of finding a path for the motion of two autonomous mobile robots from a starting point to meet the other robot in a two dimensional domain is considered in the presence of arbitrary shaped obstacles. No a priori information is known in advance about the geometry and the dimensions of the workspace nor about the number, extension and location of obstacles. The robots have a sensing device that detects all obstacles or pieces of walls lying beyond a fixed view range. The problem is embedded in a graph optimization framework and a new algorithm is proposed, characterized by little computer power requirements. Theoretical and practical aspects of the algorithm are investigated.
Rendezvous of mobile robots in unknown environment via graph optimization approach
FESTA, PAOLA;
1999
Abstract
The problem of finding a path for the motion of two autonomous mobile robots from a starting point to meet the other robot in a two dimensional domain is considered in the presence of arbitrary shaped obstacles. No a priori information is known in advance about the geometry and the dimensions of the workspace nor about the number, extension and location of obstacles. The robots have a sensing device that detects all obstacles or pieces of walls lying beyond a fixed view range. The problem is embedded in a graph optimization framework and a new algorithm is proposed, characterized by little computer power requirements. Theoretical and practical aspects of the algorithm are investigated.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
