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Conference Paper: Performance optimisation of mobile robots in dynamic environments

TitlePerformance optimisation of mobile robots in dynamic environments
Authors
KeywordsDynamic environments
Motion planning
Mutiple mobile robots
Optimisation
Task allocation
Issue Date2012
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000790
Citation
The IEEE International Conference on Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS 2012), Tianjin, China, 2-4 July 2012. In Proceedings of IEEE VECIMS, 2012, p. 54-59 How to Cite?
AbstractThis paper presents a robotic simulation system, that combines task allocation and motion planning of multiple mobile robots, for performance optimisation in dynamic environments. While task allocation assigns jobs to robots, motion planning generates routes for robots to execute the assigned jobs. Task allocation and motion planning together play a pivotal role in optimisation of robot team performance. These two issues become more challenging when there are often operational uncertainties in dynamic environments. We address these issues by proposing an auction-based closed-loop module for task allocation and a bio-inspired intelligent module for motion planning to optimise robot team performance in dynamic environments. The task allocation module is characterised by a closed-loop bid adjustment mechanism to improve the bid accuracy even in light of stochastic disturbances. The motion planning module is bio-inspired intelligent in that it features detection of imminent neighbours and responsiveness of virtual force navigation in dynamic traffic conditions. Simulations show that the proposed system is a practical tool to optimise the operations by a team of robots in dynamic environments. © 2012 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/165331
ISBN

 

DC FieldValueLanguage
dc.contributor.authorChoi, SHen_US
dc.contributor.authorZhu, Wen_US
dc.date.accessioned2012-09-20T08:17:15Z-
dc.date.available2012-09-20T08:17:15Z-
dc.date.issued2012en_US
dc.identifier.citationThe IEEE International Conference on Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS 2012), Tianjin, China, 2-4 July 2012. In Proceedings of IEEE VECIMS, 2012, p. 54-59en_US
dc.identifier.isbn978-1-4577-1759-8-
dc.identifier.urihttp://hdl.handle.net/10722/165331-
dc.description.abstractThis paper presents a robotic simulation system, that combines task allocation and motion planning of multiple mobile robots, for performance optimisation in dynamic environments. While task allocation assigns jobs to robots, motion planning generates routes for robots to execute the assigned jobs. Task allocation and motion planning together play a pivotal role in optimisation of robot team performance. These two issues become more challenging when there are often operational uncertainties in dynamic environments. We address these issues by proposing an auction-based closed-loop module for task allocation and a bio-inspired intelligent module for motion planning to optimise robot team performance in dynamic environments. The task allocation module is characterised by a closed-loop bid adjustment mechanism to improve the bid accuracy even in light of stochastic disturbances. The motion planning module is bio-inspired intelligent in that it features detection of imminent neighbours and responsiveness of virtual force navigation in dynamic traffic conditions. Simulations show that the proposed system is a practical tool to optimise the operations by a team of robots in dynamic environments. © 2012 IEEE.-
dc.languageengen_US
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000790-
dc.relation.ispartofIEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems Proceedingsen_US
dc.rightsIEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems Proceedings. Copyright © IEEE.-
dc.rights©2012 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectDynamic environments-
dc.subjectMotion planning-
dc.subjectMutiple mobile robots-
dc.subjectOptimisation-
dc.subjectTask allocation-
dc.titlePerformance optimisation of mobile robots in dynamic environmentsen_US
dc.typeConference_Paperen_US
dc.identifier.emailChoi, SH: shchoi@hku.hken_US
dc.identifier.emailZhu, W: wenkaizhu@hku.hk-
dc.identifier.authorityChoi, SH=rp00109en_US
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/VECIMS.2012.6273210-
dc.identifier.scopuseid_2-s2.0-84867921374-
dc.identifier.hkuros208846en_US
dc.identifier.spage54-
dc.identifier.epage59-
dc.publisher.placeUnited States-
dc.description.otherThe IEEE International Conference on Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS 2012), Tianjin, China, 2-4 July 2012. In Proceedings of IEEE VECIMS, 2012, p. 54-59-

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