A Multiple Mobile Robots Path planning Algorithm Based on A-star and Dijkstra Algorithm

摘要

Path planning algorithm is a key issue among robot control areas. In practical engineering applications, traditional methods have some limitations to a certain degrees in key aspects of cost, efficiency, security, flexibility, portability, etc. Through the analysis and comparison of A-star algorithm and Dijkstra algorithm, path planning problem supporting multiple cars run parallely (PPSMC for short) in a static and dynamic obstacles co-existing environment is studied. An A-STAR-Dijkstra-integrated algorithm is promoted to make multiple cars moving parallely without collision or deadlock. Both two algorithms are optimized too. The algorithm has applied in smart park.