Time enhanced A*: Towards the development of a new approach for Multi-Robot Coordination

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Santos, J (Autor) Outra; Pedro Luís Cerqueira Gomes da Costa (Autor) FEUP; Rocha, LF (Autor) FEUP; António Paulo Moreira (Autor) FEUP; Germano Veiga (Autor) FEUP

Ata de Conferência Internacional

Título: Proceedings of the IEEE International Conference on Industrial Technology

Páginas: 3314-3319

2015 IEEE International Conference on Industrial Technology, ICIT 2015

17 March 2015 through 19 March 2015

Indexação

ISI Web of Knowledge - 20 Citações

Scopus - 24 Citações

Outras Informações

ID Authenticus: P-00G-DTH

DOI: 10.1109/icit.2015.7125589

Abstract (EN): In this paper the authors focus on presenting a new path planning approach for a multi-robot transportation system in an industrial case scenario. The proposed method is based on the A* heuristic search in a cell decomposition scenario, for which a time component was added - Time Enhanced A* or simply TEA*. To access the flexibility and efficiency of the proposed algorithm, a set of experiments were performed in a simulated industrial environment. During trials execution the proposed algorithm has shown high capability on preventing/dealing with the occurrence of deadlocks in the transportation system.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6