군집 로봇의 충돌 회피를 고려한 순차적 경로계획

Abstract

Multi-robot path planning involves establishing collision-free paths for multiple robots such that each robot reaches its goal without colliding with other robots. The possibility of collision between robots is high in dynamic environments where robots with different speeds move simultaneously. For a group of robots moving at different speeds, a path-planning method was proposed for minimizing the time cost while avoiding collisions between obstacles and robots. In the proposed method, the path is sequentially planned according to the predefined priorities between robots so that each robot can plan the path in a distributed manner. The performance of the proposed algorithm was compared with existing algorithms, namely hierarchical cooperative A* and conflict-based search, and its performance in various real-world scenarios was verified using a three-dimensional robot simulator.