A new cooperative multi-robot path planning in dynamic environment

Dynamic path planning is a fundamental and difficult problem in mobile robotics. This paper presents a new approach of multi-robot path planning in dynamic environments, by using cooperative co-evolution and APF algorithm. The key ideal of our approach is to combine with global and local path planning, and to make fully use of centralized and distributed approach via information fusion mechanism. The proposed approach has been simulated in the TeamBots (a popular tool of multi-robot simulation). The results of dynamic simulation show the efficiency of the algorithm.