Multi Robot Path Planning Using Priority Based Algorithm

摘要

In this paper we propose a novel algorithm to plan paths for multiple robots with multiple goal points. The algorithm utilizes D* Algorithm as a backbone with a priority order optimizer. For testing the algorithm, we propose an architecture to direct multiple robots in a centralized manner using Robot Operating System (ROS). Further, four maps have been defined to gauge the performance of the system. The results show a significant advantage over decoupled and coupled path planning algorithm in terms of computation time while still retaining coupled approach’s characteristic of avoiding deadlocking in single corridor cases.