Autonomous navigation of multiple robots using supervisory control theory
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Universidade Federal de Minas Gerais
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This paper proposes a hybrid structure for autonomous navigation of multiple robots with tasks assigned by a centralized scheduler. Considering the robots as Discrete Event Systems (DES), the Supervisory Control Theory (SCT) is used to model and control individually the behavior of each robot of the system. Particularly, gathering deliberative and reactive motion planning algorithms through a structured procedure, it allows to obtain a hybrid planner able to perform safe navigation in a mapped workspace with unknown obstacles. Therefore, initially, the open-loop behavior and the reduced supervisors for the robots are provided and, later, a pseudocode describing the scheduler and its interaction with the robots is presented. Furthermore, as a case study, simulations considering mobile robots are carried out to corroborate the proposed framework.
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Robot Navigation , Supervisory Control , Autonomous Navigation , Multiple Robots , Supervisory Control Theory , Workspace , Path Planning , Hybrid Structure , Mobile Robot , Discrete Event Systems , Autonomic System , Local Minima , Native Plants , Manufacturing Industry , Repulsive Forces , Attractive Forces , Automata , State Machine , Planning Phase , Plant Structure , Simultaneous Localization And Mapping , Local Minimum Problem , High-level Description , Closed-loop Behavior , Uncontrollable Events , Natural Projection , Navigation Problem , Robot Behavior , Unknown Environment , Plant Behavior
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https://ieeexplore.ieee.org/document/8796261