Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment

摘要

This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simula-tion environment then the entire work has been implemented on Khepera II mobile robot. The performance of the above mentioned approach has been found to be satisfactory compared to the classical non-predictive approaches of dynamic obstacle avoidance.