抄録
This paper proposes a motion planning method that constructs collision-free and optimized trajectories for multi-robot. The proposed method performs two planning. First, each robot performs path planning using Variable-resolution Velocity Roadmap(VVR). VVR includes position information and velocity information. Using VVR, each robot can find a path that navigates the robot to the destination in shortest time while avoiding static obstacles. Second, the scheduler adjusts the departing times and the velocities at the via-points of all robots to avoid collisions between the robots and to minimize the sum of arrival times of the robots. The proposed method is evaluated through simulations.
