Decentralized self-decision planning system for multiple intelligent mobile robots

An intelligent planning strategy using the model of a distributed robotics system is presented to deal with the problem of motion planning for multiple mobile robots in one working environment. The proposed approach not only guarantees time-energy optimality but also meets kinematic and dynamic constraints of robots. In this paper, a real-time expert system is introduced and most data required by online planning is computed offline. The simulation results based on the scheme are presented to demonstrate its efficiency.