A multi-robot path planner for a disabled person assistance system: a framework [articol]

Abstract

This work aims at modelling a system which allows a user and more particularly a disabled person, to give a mission to a team of robots and to determine the whole process leading to its execution. This paper proposes a participative model to set up this system. We separate the actor: active element subjected to the stimulus (the user and its request, for example), the objective form: object designed in the mind of the actor, the object: element satisfying and corresponding to the satisfaction of the stimulus. In agreement with this model, the system is based on a several levels diagram for a design directed towards a multi-agents system. In this paper, we mainly describe the four stages of the mechanism which lead to the trajectory determination of the robots group. These steps use a Voronoï’s generalized graph and a wave front algorithm. The computation of the configuration space for a robot group and an adaptation of the group trajectory allow the group to be formed and reach the final position.