The algorithm is documented in the master thesis and published at IROS. Additionally a unsynchronized version via nav_msgs/Path is published for every robot. Therefore, the Router publishes a tuw_multi_robot_msgs/Route containing preconditions, when a robot is allowed to enter a segment. Since the results generated for these scenarios are interdependent, the given routes have to be executed in a synchronized fashion. Additionally, there are a Priority and a Speed Rescheduler as well as a Collision resolver integrated to solve special scenarios not solvable by standard prioritized planning approaches. The MRRP uses a prioritized planning approach to find the robots routes. The tuw_multi_robot_router is a Multi Robot Route Planner, which subscribes to tuw_multi_robot_msgs/RobotInfo messages, to the map/graph published from the tuw_voronoi_graph package, and to the tuw_multi_robot_msgs/RobotGoalsArray message. The graph-generator-node receives a grid_map like the one published from voronoi-map-generator-node and converts it into a graph message for use in tuw_multi_robot_route_planner. The voronoi-segment-to-graph-node takes a segment file with predefined segments as input and converts it to a graph, which is published afterwards. These lines arcs and circles are converted to a graph and saved to a specific location. The voronoi-dxf-to-graph takes a dxf file as input containing the scaled and transformed map and any number of lines arcs and circles. Additionally the node can load specific graphs saved in a folder. This graph is automatically generated or loaded from a cache folder if saved. The voronoi-graph-generator-node receives a pixel map ( occupancy_grid) and converts it into a voronoi graph describing the original map.
This package includes a voronoi-graph-generator, a dxf-to-graph-node and a segment-to-graph node for creating search graphs for the multi robot router. Rosrun tuw_multi_robot_goal_generator goals_random _nr_of_robots:=200 _distance_boundary:=0.6 _distance_to_map_border:=0.2 _nr_of_avaliable_robots:=50 Rosrun tuw_multi_robot_goal_generator goals_random _nr_of_robots:=32 _distance_boundary:=0.6 _distance_to_map_border:=0.2 _nr_of_avaliable_robots:=14 Rosrun tuw_multi_robot_goal_generator goals_random _nr_of_robots:=3 _distance_boundary:=0.6 _distance_to_map_border:=0.2 _nr_of_avaliable_robots:=3 tuw_multi_robot_demoĬontains launch and config files to run a sample demo. Furthermore, the design allows the usage of existing individual controllers such as DWA implmented in move_base. The system provides a simple local motion controller for all robots, which allows a high number (> 100) of vehicles to be controlled in real time using stage. The green boxes show already existing modules while the red boxes are not yet implmented/released. The current state of the system allows one to set goals for multiple vehicles using RViz, a configuration file, or an order mangement system which is capable to assign vehicles for specific deliveries and generates goals for the multi robot route planner. The framework is designed to cover all tools needed for an automated delivery system with autonomous vehicles. This figure represents the current state and planned developments on the tuw_multi_robot framework. tuw_multi_robot_local_behavior_controller.Have a look at the tuw_multi_robot_demo/README.md file Packages Have a look at the INSTALL.md file Demos / Tutorials The output are multiple synchronized routes given to the individual robots. The inputs are the tuw_multi_robot_msgs/RobotInfo messages which include the robots pose, the map and the desired goal poses. It creates a search graph out of a pixel map and tries to find a path for multiple robots using an extended approach for prioritized planning. This repository includes ros packages to plan routes for multiple robots on a search graph.
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