Hybrid multi-robot path planning strategy based on RRT and fuzzy control in wireless sensor network

Abstract

Multi-robot path planning refers to finding an optimized obstacle-avoidance path cooperatively in unknown environment while knowing the start and end coordinates. The development of wireless sensor network provides a low cost and efficient solution for multi-robot path planning. In this paper a hybrid path planning strategy based on WSN is proposed. It combined local and global path planning based on RRT algorithm with fuzzy control rules. The simulation result shows that this hybrid path planning method can be effectively achieve multi-robot obstacle avoidance and cooperation.