Simulation Language for Multiple Mobile Robots
Yoshinobu Adachi* and Masayoshi Kakikura**
*SECOM CO., LTD., 8-10-16 Shimorenjaku, Mitaka-shi, Tokyo 181, Japan
**Tokyo Denki University, 2-2 Nisiki-cho, Kanda, Chiyoda-ku, Tokyo 101, Japan
The purpose of this paper is to propose a design concept for a simulation language to be used in path planning in a multiple mobile robots system. The paper also includes some examples of programming of path planning for multiple mobile robots. In some path planning problems with mobile robots, graph theory can be a powerful tool. In our system, the environment information of the robots is represented in a graph structure. By handling this graph with a programming language, path planning tasks can be executed in a systematic way. Each task of the multiple mobile robots can be described using a Petrinet expression, and several features of the given robot system, for example, the optimum path problem, the deadlock problem of multiple robots, etc., can be deduced using the network model.