Advanced Control Structures: A Transputer-Based Multi-Robot System
Zalzala, A.M.S., Dodds, G.I. and Irwin, G.W.
(1993)
Advanced Control Structures: A Transputer-Based Multi-Robot System.
Research Report.
ACSE Research Report 468
.
Department of Automatic Control and Systems Engineering
Abstract
This paper presents the implementation of an efficient motion planner for a two-robot system operating in a unified environment. The distributed formulation of the planner is mapped on a network of T800 transputers and caters for the needs of minimum-time and collision free robot motion in real time. Practical implementation of the planner is reported for two co-ordinated RTX robots and performance results are given of an execution run.
Metadata
Item Type:
Monograph
Authors/Creators:
Zalzala, A.M.S.
Dodds, G.I.
Irwin, G.W.
Copyright, Publisher and Additional Information:
The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
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