The multiple robots path-planning based on dynamic programming

The paper describes a multi-robot real time path planning problem. Firstly, every robot computes its priority, the robot who has first priority needn´t plan, and its sub-goal is its final goal. The second-priority robot plans a path to avoid collision with the first-priority robot. The third-priority robot needs to plan a path to avoid collision with the former robots. For the planning of every robot, a new algorithm combining the robot´s basic collision avoidance strategies with heuristic dynamic programming is presented. Simulated experiments proved the algorithm is valid.