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- Publisher Website: 10.1109/VECIMS.2012.6273210
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Conference Paper: Performance optimisation of mobile robots in dynamic environments
Title | Performance optimisation of mobile robots in dynamic environments |
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Authors | |
Keywords | Dynamic environments Motion planning Mutiple mobile robots Optimisation Task allocation |
Issue Date | 2012 |
Publisher | IEEE. 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? |
Abstract | This 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 Identifier | http://hdl.handle.net/10722/165331 |
ISBN |
DC Field | Value | Language |
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dc.contributor.author | Choi, SH | en_US |
dc.contributor.author | Zhu, W | en_US |
dc.date.accessioned | 2012-09-20T08:17:15Z | - |
dc.date.available | 2012-09-20T08:17:15Z | - |
dc.date.issued | 2012 | en_US |
dc.identifier.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 | en_US |
dc.identifier.isbn | 978-1-4577-1759-8 | - |
dc.identifier.uri | http://hdl.handle.net/10722/165331 | - |
dc.description.abstract | This 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.language | eng | en_US |
dc.publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000790 | - |
dc.relation.ispartof | IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems Proceedings | en_US |
dc.subject | Dynamic environments | - |
dc.subject | Motion planning | - |
dc.subject | Mutiple mobile robots | - |
dc.subject | Optimisation | - |
dc.subject | Task allocation | - |
dc.title | Performance optimisation of mobile robots in dynamic environments | en_US |
dc.type | Conference_Paper | en_US |
dc.identifier.email | Choi, SH: shchoi@hku.hk | en_US |
dc.identifier.email | Zhu, W: wenkaizhu@hku.hk | - |
dc.identifier.authority | Choi, SH=rp00109 | en_US |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/VECIMS.2012.6273210 | - |
dc.identifier.scopus | eid_2-s2.0-84867921374 | - |
dc.identifier.hkuros | 208846 | en_US |
dc.identifier.spage | 54 | - |
dc.identifier.epage | 59 | - |
dc.publisher.place | United States | - |
dc.description.other | 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 | - |