Extended sensing horizon : an approach to collaborative path planning

• Main Author: Teo, Richie
• Other Authors: Wang Dan Wei
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/149433
• Institution: Nanyang Technological University

In the field of robotics and multi-robot systems (MRSs), perception sharing is one of several ways to enable and enhance agent cooperation. Research on this topic has been underway for the past two decades and is being explored with increased interest as we move towards Industry 4.0. This paper will investigate multi-robot perception sharing via path planning and laser sensors on a middleware known as ROS (Robot Operating System), evaluating the effects of such a technique on group navigation time. It also provides a test bed for exploring different simulation conditions and parameters in future works.