Multiple Mobile Robot Path Planning in 3D Environment Using Tangent Tree Algorithm

Due to the effective applications of multi-agent systems, there is an importance to develop efficient methods to manage these systems. One of the most important methods is path planning. This paper proposes a new algorithm for the path planning of multiple mobile robots in 3D environment named Tange...

Full description

Saved in:
Bibliographic Details
Published in:Journal of physics. Conference series 2020-05, Vol.1530 (1), p.12003
Main Authors: Fahem Albaghdadi, Ahmed, Abdulkareem Ali, Abduladhem
Format: Article
Language:English
Subjects:
3D path planning
Algorithms
Collision dynamics
Collision free path
Multi-robot
Multiagent systems
Multiple robots
Path planning
Robots
search tree
Straight lines
System effectiveness
Tangent Tree Algorithm
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Due to the effective applications of multi-agent systems, there is an importance to develop efficient methods to manage these systems. One of the most important methods is path planning. This paper proposes a new algorithm for the path planning of multiple mobile robots in 3D environment named Tangent Tree Algorithm. It based on the assumption that the robots have spherical shapes and can move in a 3D space like drones, other moving robots considered as obstacles for the robot. The robot path performed using two modes: In the first mode, the robot moves in a straight line to the tangent point of assumption sphere. In the second mode, it moves around the assumption sphere. The assumption sphere locates at the calculated collision 3D point with the other robots. A number of possible paths constricted using these modes. A Tangent tree algorithm for multi-robot formed and the minimum path is determined based on minimizing this tree. Simulation results indicate that the new algorithm is superior to other algorithms in terms of both the path cost and computation required. Furthermore, this algorithm does not change the velocity of the robots; it only depends on the orientation.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1530/1/012003