CLC number: TP242.6
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2022-12-31
Cited: 0
Clicked: 2049
Citations: Bibtex RefMan EndNote GB/T7714
Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU. A novel motion coordination method for variable-sized multi-mobile robots[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(4): 521-535.
@article{title="A novel motion coordination method for variable-sized multi-mobile robots",
author="Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="24",
number="4",
pages="521-535",
year="2023",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2200160"
}
%0 Journal Article
%T A novel motion coordination method for variable-sized multi-mobile robots
%A Zichao XING
%A Xingkai WANG
%A Shuo WANG
%A Weimin WU
%A Ruifen HU
%J Frontiers of Information Technology & Electronic Engineering
%V 24
%N 4
%P 521-535
%@ 2095-9184
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2200160
TY - JOUR
T1 - A novel motion coordination method for variable-sized multi-mobile robots
A1 - Zichao XING
A1 - Xingkai WANG
A1 - Shuo WANG
A1 - Weimin WU
A1 - Ruifen HU
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 24
IS - 4
SP - 521
EP - 535
%@ 2095-9184
Y1 - 2023
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.2200160
Abstract: multi-mobile robot systems (MMRSs) are widely used for transportation in industrial scenes such as manufacturing and warehousing. In an MMRS, motion coordination is important as collisions and deadlocks may lead to losses or system stagnation. However, in some scenarios, robot sizes are different when loaded and unloaded, which means that the robots are variable-sized, making motion coordination more difficult. The methods based on zone control need to first divide the environment into disjoint zones, and then allocate the zones statically or dynamically for motion coordination. The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system. This paper describes a motion coordination method based on glued nodes, which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots. Dynamic features make this method directly applicable to various scenarios, instead of dividing a roadmap into disjoint zones. The proposed method has been applied to many industrial projects, and this study is based on some manufacturing projects for experiments. Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.
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