A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty
For improving the system efficiency when there are motion uncertainties among robots in the warehouse environment, this paper proposes a bi-level probabilistic path planning algorithm. In the proposed algorithm, the map is partitioned into multiple interconnected districts and the architecture of pr...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/9207324 |
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| _version_ | 1832567915846565888 |
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| author | Jingchuan Wang Ruochen Tai Jingwen Xu |
| author_facet | Jingchuan Wang Ruochen Tai Jingwen Xu |
| author_sort | Jingchuan Wang |
| collection | DOAJ |
| description | For improving the system efficiency when there are motion uncertainties among robots in the warehouse environment, this paper proposes a bi-level probabilistic path planning algorithm. In the proposed algorithm, the map is partitioned into multiple interconnected districts and the architecture of proposed algorithm is composed of topology level and route level generating from above map: in the topology level, the order of passing districts is planned combined with the district crowdedness to achieve the district equilibrium and reduce the influence of robots under motion uncertainty. And in the route level, a MDP method combined with probability of motion uncertainty is proposed to plan path for all robots in each district separately. At the same time, the number of steps for each planning is dependent on the probability to decrease the number of planning. The conflict avoidance is proved, and optimization is discussed for the proposed algorithm. Simulation results show that the proposed algorithm achieves improved system efficiency and also has acceptable real-time performance. |
| format | Article |
| id | doaj-art-0e392faeb6bd4afebee4b33c1f6084f4 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-0e392faeb6bd4afebee4b33c1f6084f42025-02-03T01:00:08ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/92073249207324A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion UncertaintyJingchuan Wang0Ruochen Tai1Jingwen Xu2Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education of China, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 637121, SingaporeDepartment of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education of China, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, ChinaFor improving the system efficiency when there are motion uncertainties among robots in the warehouse environment, this paper proposes a bi-level probabilistic path planning algorithm. In the proposed algorithm, the map is partitioned into multiple interconnected districts and the architecture of proposed algorithm is composed of topology level and route level generating from above map: in the topology level, the order of passing districts is planned combined with the district crowdedness to achieve the district equilibrium and reduce the influence of robots under motion uncertainty. And in the route level, a MDP method combined with probability of motion uncertainty is proposed to plan path for all robots in each district separately. At the same time, the number of steps for each planning is dependent on the probability to decrease the number of planning. The conflict avoidance is proved, and optimization is discussed for the proposed algorithm. Simulation results show that the proposed algorithm achieves improved system efficiency and also has acceptable real-time performance.http://dx.doi.org/10.1155/2020/9207324 |
| spellingShingle | Jingchuan Wang Ruochen Tai Jingwen Xu A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty Complexity |
| title | A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty |
| title_full | A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty |
| title_fullStr | A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty |
| title_full_unstemmed | A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty |
| title_short | A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty |
| title_sort | bi level probabilistic path planning algorithm for multiple robots with motion uncertainty |
| url | http://dx.doi.org/10.1155/2020/9207324 |
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