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Cooperative Simulated Annealing for Path Planning in Multi-robot Systems

  • Gildardo Sánchez-Ante
  • Fernando Ramos
  • Juan Frausto
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1793)

Abstract

This paper presents some preliminary results on the application of a Cooperative Simulated Annealing algorithm (COSA) for solving the problem of path planning in Multi-Robot systems. The main idea is to generate paths for each robot in the system without taking care of the other robots, and then coordinate the paths for all the robots. Paths are generated using a variation of the probabilistic roadmaps (PRM), and the coordination of the paths is achieved with a Cooperative Simulated Annealing (COSA). To evaluate the system, several experiments for environments constituted by two planar robots with up to five dof and various convex obstacles were run. The results obtained aim to continue working on this line.

Keywords

Path Planning Static Obstacle Path Planning Problem Convex Obstacle Hybrid Local Search 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • Gildardo Sánchez-Ante
    • 1
  • Fernando Ramos
    • 1
  • Juan Frausto
    • 1
  1. 1.Department of Computer ScienceITESMCuernavacaMexico

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