On-Line Centralized Path Planning of Multiple Mobile Robots in Dynamic Environments

Abstract

To study the path planning problem of multiple mobile robots in dynamic environments, an on-line centralized path planning algorithm is proposed. It is difficult to obtain real-time performance for path planning of multiple robots in dynamic environment. The harmonic potential field for multiple mobile robots is built by using the panel method known in fluid mechanics, which represents the outward normal velocity of each line of a polygonal obstacle as a function of the length of its characteristic line. The simulation results indicate that it is a simple, efficient and effective path planning algorithm for multiple mobile robots in the dynamic environments that the geometries and trajectories of obstacles are known in advance, and can achieve real-time performance.