Using Space D* for Crowded Real Robots Environments

This paper describes a new method of path planning for multiple robots in unknown environments and its validation in real robots context. The method, called Space D*, is based on two algorithms: the D*, which is an incremental graph search algorithm, and the Space Colonization algorithm, previously used to simulate crowd behaviours. The path planning is achieved through the exchange of information between the robots. So decentralized, each robot performs its path planning, which provide a obstacle-free path with the least number of robots around. The major contribution of the proposed method is that it generates paths in spacious environments facilitating the control of robots, and thus presenting itself in a viable way for using in areas populated with multiple robots. The results obtained validate the approach and show the advantages in comparison to use only D* method.