Hybrid Multi-robot Path Planning strategy based on RRT and Fuzzy control in Wireless Sensor Network

摘要：

Multi-robot path planning refers to finding an optimized obstacle-avoidance path cooperatively in unknown environment while knowing the start and end coordinates. The development of wireless sensor network provides a low cost and efficient solution for multi-robot path planning. In this paper a hybrid path planning strategy based on WSN is proposed. It combined local and global path planning based on RRT algorithm with fuzzy control rules. The simulation result shows that this hybrid path planning method can be effectively achieve multi-robot obstacle avoidance and cooperation.

作者: Ping Song Jiangfeng Li Kejie Li Jinlong Liang

作者单位: Intelligent Robotics Institute,School of Mechatronical Engineer,Beijing Institute of Technology,5 So Intelligent Robotics Institute,School of Aerospace Science and Engineering,Beijing Institute of Tech

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 877-881

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）