A heuristic, real-time path planning for collision free navigation in a dynamic multiple robots unknown environment

The heuristic path planning of multiple autonomous robots in a dynamic two-dimensional unknown environment is discussed. Particular attention is given to the collision-free navigation of multiple autonomous robots using a heuristic human-like approach. The heuristic scheme uses the trial and error method, past navigation experience, and current extracted information from the surrounding environment in order to detect other moving objects in the same navigation space and to define the secure navigation path for an autonomous robot. Simulated results for two moving objects in the same environment are presented. The proposed heuristic scheme could be applied to an environment where the visual contact is very poor or impossible