Priority Scheduling based Dynamic Path Planning System with Motion Feedback

Abstract

Mobile Robots have become an integral part of the environment and one of the main focus is on multiple robot coordination systems. This research article proposes a modified grid-based A* path planning algorithm that can be used for the simultaneous planning and motion of mobile robots in a dynamic environment. The algorithm includes priority-based scheduling of robots for practical applications. It also takes into account, the re-planning of the path of the robot using motion feedback from encoders, in the case where the robot leaves the configuration space due to dynamic obstacles. A multi-robot system is set up to verify the proposed method of path planning.