A Path Planning Considering Minimized Obstacles-in-Path for Multiple-Robot Station Docking Problem

초록

Amazon KIVA is a successful model for 4th industrial revolution. But, by the problem of bottleneck during station docking, it still suffers inefficiency in moving path. There are numerous KIVA robots that need to dock into stations, but it is difficult to find an efficient path and prevent bottleneck, because there is no fixed method or sequence. In this paper, a novel multiple robot path planning algorithm considering the concept of minimized obstacles-in-path is addressed. The comparison of 4 different kinds of experiments shows the effectiveness of the proposed algorithm and it could be used for multiple-robot station docking problem effectively.

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