An improved neuro-dynamics-based approach to online path planning for multi-robots in unknown dynamic environments

摘要

Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings. In this paper, an improved neuro-dynamics-based method is proposed with advantages. It has conducted efficient performance and easier realization with much less computational time complexity. Meanwhile, by entering “repulsion” mechanism, the improved method is capable of fair allocation and load balancing on the limited resources. Both simulated experiments and theoretical analysis demonstrate the feasibility and availability of the improved method in the paper.