Genetic algorithms based multirobot trajectory planning

This paper presents a methodology for planning trajectories in a multirobot system. The planner takes into account the speed constraints acting on the vehicles, so it provides a safe speed profile for every robot in the system. As the planner is decoupled and prioritized, it is necessary to set up some priority assignment that defines the order in which trajectories are computed. In order to obtain near-optimal solutions for that performance, a multirobot trajectories scheduler, based on genetic algorithms, has been designed, developed and tested. The multirobot trajectory planning is being incorporated into a three-layer multirobot architecture, so the lack of flexibility related to the deliberative planning can be compensated