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연속적인 시간축을 적용한 다개체 로봇의 그래프 기반 경로계획 알고리즘 설계
정홍렬(Hong-ryul Jung),황호연(Ho-yeon Hwang),박영제(Yeongje Park),문형필(Hyungpil Moon) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
In multi-robot environments, paths can overlap or deadlocks can occur. In this paper, we describe an efficient way to extend the graph-based path planning algorithm to a continuous and unbounded time axis. Some algorithms used graphs with time axes to solve problems of multi-robot environments, but there was a limit. These limits are due to the discrete representation of continuous time. We use the concept of vertex-blocks and vertex-columns to represent vertices in continuous time-space. The advantage of this method is that the upper and lower bounds of the time axis can be made infinite. In addition, it can make effective path generation by using information on when and where other robots or dynamic obstacles are planned to pass. The simulation shows that this algorithm distinguishes if it waits for a while or whether it should create a bypass path. The proposed algorithm can be applied to various path planning algorithms including time information.
언리얼 엔진을 이용한 다개체 주행 로봇용 시뮬레이터 개발
정홍렬(Hong-ryul Jung),박영제(Yeongje Park),문형필(Hyungpil Moon) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
Multi-robot system is an essential part of the research of intelligent logistics. But experiments of them in the real world require enough space and are very expensive. Therefore, simulation is necessary. Besides, it takes much time to build a virtual world for experiments of multiple robots, so it is required to have a tool for fast environment construction. This paper proposes a program structure, suitable for the simulation of a multi-agent system, and the design of the JSON file to define environments. General-purpose robotic simulators are challenging to construct large scale visually rich environments. Therefore, we implemented a simulator with the proposed structure using the Unreal Engine. The proposed simulator will aid in the study of multiple mobile robots by reducing the time to build an environment and providing photorealistic simulations.
황호연(Hoyeon Hwang),전정민(Jeongmin Jeon),정홍렬(Hong-ryul Jung),김수종(Sujoing Kim),문형필(Hyungpil Moon) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
Task planning and motion planning are needed to handle the task the robot wants. The task planning is represented by a graph structure map of vertices and edges. At the vertex, the robot manipulator information, position, and object’s position were shown, and the edge represented the behavior of the robot, which was represented by a graph structure. With information about objects in the graph structure, geometric constraints can be considered in task planning. The heuristic can be used in the graph search algorithm to find the optimal path for task planning. Motion planning and v-rep simulator allow you to see the results of task planning.