Multi-Robot Collective Path Finding in Dynamic Environments

摘要

Pathfinding is a critical element of AI in many modern applications like multiple mobile robots, game industry and flock traffic navigation based on negotiation (FTN). We develop a new algorithm capable of planning paths for multiple agents on partially known and changing environments inspired by cooperative A* and D*. From a distributed approach (Decoupled) our collective pathfinding in dynamic environments algorithm decomposes the task of individual plan into weakly-dependent problems for each agent. Each agent can search greedily for a path according to its destination, given the current state of all other agents. Then based on a space-time search space each agent attempt to make a reservation on (x,y,t,δ) where x,y are in the Euclidean space, t is a time measure and δ is a forward planning-vision measure (forecasting index).