The multiple robots path-planning based on dynamic programming

The paper describes a multi-robot real time path planning problem. Firstly, every robot computes its priority, the robot who has first priority needn't plan, and its sub-goal is its final goal. The second-priority robot plans a path to avoid collision with the first-priority robot. The third-pr...

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Bibliographic Details
Main Authors: Yan Guozheng, Wang Yu, Lin Liangming
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Dynamic programming
Electronic mail
Instruments
Intelligent control
Path planning
Robot programming
Robotics and automation
Strategic planning
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Summary:The paper describes a multi-robot real time path planning problem. Firstly, every robot computes its priority, the robot who has first priority needn't plan, and its sub-goal is its final goal. The second-priority robot plans a path to avoid collision with the first-priority robot. The third-priority robot needs to plan a path to avoid collision with the former robots. For the planning of every robot, a new algorithm combining the robot's basic collision avoidance strategies with heuristic dynamic programming is presented. Simulated experiments proved the algorithm is valid.
DOI:10.1109/WCICA.2002.1020759