Abstract
paper, a probabilistic roadmap planner algorithm with the multi robot path planning problem have been proposed by using the A* search algorithm in a dynamic environment. The whole process consists of two phases. In the first phase: Preprocessing phase, the work space is converted into the configuration space, constructing a probabilistic roadmap graph in the free space, and finding the optimal path for each robot using a global planner that avoids the collision with the static obstacles. The second phase: Moving phase, moves each robot in a prioritized manner from its starting point to its ending point through a near optimal path with avoiding collision with the moving obstacles and the other robots. A comparison has been done with the depth first algorithm to see the difference. The simulation results shows that choosing A* search algorithm affect positively the speed of the two phases together in comparison to the depth first search algorithm.
Highlights
Path planning of both single robot and multiple robots has been widely investigated [1] because of its potentially usefulness in many applications such as moving containers in harbors, storage systems in factories and luggage handling systems at airports [2]
The applications of path planning are not just restricted to the field of robotics, and can be used in another fields such as virtual environments, computer aided design, and maintenance planning [3]. The movement of these robots should take the shortest path between the starting point and the ending point and avoid the collision with the obstacles that may occur in its way such as walls, peoples and other robots
The second phase (Moving phase), moves one robot at a time according to a predefined priority from its starting point to its ending point through its optimal path and avoiding collision with the moving obstacles and the other robots
Summary
Path planning of both single robot and multiple robots has been widely investigated [1] because of its potentially usefulness in many applications such as moving containers in harbors, storage systems in factories and luggage handling systems at airports [2]. The applications of path planning are not just restricted to the field of robotics, and can be used in another fields such as virtual environments, computer aided design, and maintenance planning [3] The movement of these robots should take the shortest path between the starting point and the ending point and avoid the collision with the obstacles that may occur in its way such as walls, peoples and other robots. A probabilistic roadmap planner algorithm with the multi robot path planning problem has been implemented by using the A* search algorithm in a dynamic environment. The second phase (Moving phase), moves one robot at a time according to a predefined priority from its starting point to its ending point through its optimal path and avoiding collision with the moving obstacles and the other robots.
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