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A Framework for Multi Robot Guidance Control

2009; Springer Science+Business Media; Linguagem: Inglês

10.1007/978-3-642-03668-2_31

1611-3349

Onur Keskin, Erol Uyar,

Distributed Control Multi-Agent Systems

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.