An optimal algorithm for two robots path planning problem on the grid

Davoodi, Mansoor; Abedin, Marjan; Banyassady, Bahareh; Khanteimouri, Payam; Mohades, Ali

doi:10.1016/j.robot.2013.07.012

Cited by 16 publications

(3 citation statements)

References 16 publications

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“…By considering deviations and delays already at the planning stage, dynamic approaches are able to directly determine optimized collision-free paths and schedules, by taking into account that the impact of vehicle routes on network resources changes over time. For a general network topology, the authors of [21] developed a heuristic based on a mathematical programming formulation and column generation, whereas exact algorithms are devised in [22] for the special case where the routing network consists of two horizontal lanes and vertical bridges between them, and in [23] for the special case of two vehicles on a grid network. The dynamic approach proposed in [24] for the general case, iteratively computes shortest paths on a time-expanded network, and it is suitable for online settings, where transportation requests may appear during operations.…”

Section: Literature Reviewmentioning

confidence: 99%

Algorithms for Smooth, Safe and Quick Routing on Sensor-Equipped Grid Networks

Andreatta

Francesco

Giovanni

2021

Sensors

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Automation plays an important role in modern transportation and handling systems, e.g., to control the routes of aircraft and ground service equipment in airport aprons, automated guided vehicles in port terminals or in public transportation, handling robots in automated factories, drones in warehouse picking operations, etc. Information technology provides hardware and software (e.g., collision detection sensors, routing and collision avoidance logic) that contribute to safe and efficient operations, with relevant social benefits in terms of improved system performance and reduced accident rates. In this context, we address the design of efficient collision-free routes in a minimum-size routing network. We consider a grid and a set of vehicles, each moving from the bottom of the origin column to the top of the destination column. Smooth nonstop paths are required, without collisions nor deviations from shortest paths, and we investigate the minimum number of horizontal lanes allowing for such routing. The problem is known as fleet quickest routing problem on grids. We propose a mathematical formulation solved, for small instances, through standard solvers. For larger instances, we devise heuristics that, based on known combinatorial properties, define priorities, and design collision-free routes. Experiments on random instances show that our algorithms are able to quickly provide good quality solutions.

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Section: Literature Reviewmentioning

confidence: 99%

Algorithms for Smooth, Safe and Quick Routing on Sensor-Equipped Grid Networks

Andreatta

Francesco

Giovanni

2021

Sensors

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“…• After loading the goods on a truck or an automated machine, the task is to transport it to a desired destination located directly near the shelf or the intermediate storage area. The warehouse used for testing is based on a horizontal-vertical grid structure [11,12], as shown in Fig. 4.…”

Section: Description Of the Problemmentioning

confidence: 99%

Impulse Artificial Neural Networks in Internal Transport

Ochelska-Mierzejewska

2014

Management and Production Engineering Review

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The second most important function of a warehouse, apart from the storing of goods, is internal transport with a focus on time-effectiveness. When there is a time gap between the production and export of products, the goods need to be stored until they are dispatched to the consumers. An important problem that concerns both large and small warehouses is the selection of priorities, that is handling the tasks in order of importance. Another problem is to identify the most efficient routes for forklift trucks to transport goods from a start-point to a desired destination and prevent the routes from overlapping. In automated warehouses, the transport of objects (the so called pallets of goods) is performed by machines controlled by a computer instead of a human operator. Thus, it is the computer, not the man, that makes the difficult decisions regarding parallel route planning, so that the materials are transported within the warehouse in near-optimal time. This paper presents a method for enhancing this process.

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“…In [9,10,11] extensive work focusing on the systematic error to achieve minimal path planning errors has been evaluated, while in [12] an algorithm for minimizing the maximum path length in real time has been presented. Furthermore,30 in [13], a new scheme based on calibration equations, introducing fewer approximation errors in order to reduce kinematic modeling errors, was proposed.…”

Section: Introductionmentioning

confidence: 99%

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

Nayl

Nikolakopoulos

Gustafsson

2015

Robotics and Autonomous Systems

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The aim of this article is to analyze the effect of kinematic parameters on a novel proposed on-line motion planning algorithm for an articulated vehicle based on Model Predictive Control. The kinematic parameters that are going to be investigated are the vehicle's velocity, the maximum allowable change in the articulated steering angle, the safety distance from the obstacles and the total number of obstacles in the operating arena. The proposed modified path planning algorithm for the articulated vehicle belongs to the family of Bug-Like algorithms and is able to take under consideration, the mechanical and physical constraints of the articulated vehicle, as well as its full kinematic model. During the on-line motion planning algorithm, the MPC controller controls the lateral motion of the vehicle, through the rate of the articulation angle, while driving it accurately and safely over the on-line formulated desired path. The efficiency of the proposed combined path planning and control scheme is being evaluated under numerous simulated test cases, while exhaustive simulations have been made for analyzing the dependency of the proposed framework on the kinematic parameters.

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An optimal algorithm for two robots path planning problem on the grid

Cited by 16 publications

References 16 publications

Algorithms for Smooth, Safe and Quick Routing on Sensor-Equipped Grid Networks

Algorithms for Smooth, Safe and Quick Routing on Sensor-Equipped Grid Networks

Impulse Artificial Neural Networks in Internal Transport

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

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