Path finding by multiple robots has been studied by many researchers. In particular, when the robot is able to communicate with other colleague robots, path finding will be solved collaboratively among the robots. The main motivation of this article is to apply wireless multihop communications to the collaborative path-finding problem. For this purpose, we propose a cooperative path finding algorithm (CPA) and report its performance by real implementation on Zig-Bee-based micro-robots as well as MATLAB simulations. There has been some controversy over the use of wireless multihop communications in commercial wireless networks for technical as well as non-technical reasons. However, our study highlights a new potential of multihop communications in inter-robot information exchange. We show the effects of wireless communications on the operation of cooperative multi-robots and find the benefit of multihop communications.
Bibliographical noteFunding Information:
This work was supported by CARUT-ITRC (NIPA- 2010-C1090-1011-0006), while all the authors were with Yonsei University. This article was presented in part at WIOPT Work shop, Wireless Multihop Communications in Net worked Robotics, Berlin, Germany, April 2008.
All Science Journal Classification (ASJC) codes
- Computer Science Applications
- Computer Networks and Communications
- Electrical and Electronic Engineering