A Study on Motion Planning Algorithm of Homogeneous Combinatorial Robots in Time-Varying Environment

• Main Authors: Wen-Cheng Liu, 劉文正
• Other Authors: Hong-Fa Ho
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/02435399339316832042

碩士 === 國立臺灣師範大學 === 工業教育學系在職進修碩士班 === 95 === This paper is going to introduce the concept of homogeneous combinatorial robots and some properties and algorithms of their motion planning problem. There are three important concepts, As follows: First, The so-called “homogeneous combinatorial robots,” in this paper, are a set of robots that can be combined and separated freely in motion. Second, The motion planning problem of homogeneous combinatorial robots in a discrete environment is compliant to the principle of optimality. Additionally, dynamic programming algorithm is used to solve this problem. Third, Suppose is the maximum number of vertices of the time-varying graph, n is the number of robots, and k is the number of step of the motion planning. The time complexity of this problem is . Motion Planning 、Homogeneous Combinatorial Robots 、Time-Varying Environment