Multi-robotic system path planning based on RTM

Multi-robotic system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents exploration mode and goal oriented mode of path planning for multi-robotic system using RTM as communication platform. We use the Player Project works as simulation platform to realize topological map for multi-robotic system and use SP²ATM algorithm for path planning. In order to improve the effectiveness of the path planning, ICP algorithm is used for robot´s localization. This paper presents the architecture of the proposed method and gives some experiments to verify the effectiveness.