Dp 630 en
Cooperative path planning for a team of mobile robots
Author: Novák Tomáš
The purpose of this thesis is to design an algorithm that is able to calculate collision-free trajectories for robots moving in a warehouse using a map of said warehouse. For this, the challenges of the problem are discussed and several state-of-the-art methods are explored with emphasis on the Push and Rotate method. A new algorithm inspired by approach used in the Push and Rotate algorithm is proposed. This algorithm aims to overcome challenges that arise from expected use in a real warehouse environment. The algorithm was implemented in C++ programming language. Its properties are shown through experiments on a map of a real warehouse.
- Tomáš Novák, mailto:firstname.lastname@example.org