Multi-Autonomous Mobile Robot Traffic Management Based on Layered Costmaps and a Modified Dijkstra's Algorithm

Simon Mouritsen Langbak*, Casper Schou, Karl Damkjær Hansen

*Kontaktforfatter

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

1 Citationer (Scopus)
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Abstract

In recent times, the use of autonomous mobile robots (AMRs) has increased in many industries. As more AMRs roam the same area, traffic management becomes essential to prevent congestion and deadlocks. In related work, traffic management is often achieved using sophisticated, centralised planning approaches, albeit this often suffers from scalability issues. This paper therefore explores an approach where multi-AMR traffic management is achieved with layered costmaps and a modified Dijkstra's algorithm. This keeps the global path planner in the individual AMRs, thus not suffering scalability issues. To achieve multi-AMR coordination, traffic lanes and restricted areas are added to the AMRs' global costmaps. Furthermore, the AMRs also use a modified Dijkstra's algorithm that supports implmentation of traffic directions. A proof-of-concept solution is implemented in Robot Operating System 2 with Nav2 and Gazebo. The implemented solution was tested against a standard solution without any traffic management in three scenarios designed to provoke collisions. The results indicate that the implemented solution can prevent a set of collisions better than one without traffic management.

OriginalsprogEngelsk
TidsskriftProcedia Computer Science
Vol/bind232
Sider (fra-til)53-63
Antal sider11
ISSN1877-0509
DOI
StatusUdgivet - 2024
Begivenhed5th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2023 - Lisbon, Portugal
Varighed: 22 nov. 202324 nov. 2023

Konference

Konference5th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2023
Land/OmrådePortugal
ByLisbon
Periode22/11/202324/11/2023

Bibliografisk note

Publisher Copyright:
© 2024 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0)

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