Title :
Multi-robot path planning based on the developed RRT* algorithm
Author :
Li, Jonathan ; Cui Rongxin ; Yang Chenguang ; Xu Demin
Author_Institution :
Sch. of Marine Eng., Northwestern Polytech. Univ., Xi´an, China
Abstract :
In this paper, we investigate the multi-robot path planning problem, with both the robot motion constrains and the conflictions among the robots taken into account. We have extended the RRT* algorithm by considering the motion constraints and the sensor ranges of the robots and calculate the path of the robots in real time. Simulation studies are performed to show the effectiveness of our algorithm.
Keywords :
mobile robots; multi-robot systems; path planning; telerobotics; trees (mathematics); RRT* algorithm; multiple autonomous robots; multirobot path planning problem; rapidly-exploring random tree; robot conflicts; robot motion constraints; robot sensor ranges; Collision avoidance; Educational institutions; Heuristic algorithms; Path planning; Planning; Robot kinematics; Developed RRT*; Multi-Robot; Path planning; Target bias;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
