Title :
Multi-robot path planning based on improved D* Lite Algorithm
Author :
Jung-Hao Peng ; I-Hsum Li ; Yi-Hsing Chien ; Chen-Chien Hsu ; Wei-Yen Wang
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Normal Univ., Taipei, Taiwan
Abstract :
This paper proposes an improved multi-robot path planning algorithm for finding the path via interacting with multiple robots. The task is to find the path with a minimum amount of computation time by using fast re-planning algorithm. To solve multi-robot path planning problem which cannot be executed in real-time, we regard other robots, exclusive the origin robot, as obstacles. Therefore, the robot uploads location information to the MySQL server to plan a safe distance between robots.
Keywords :
SQL; control engineering computing; minimisation; multi-robot systems; path planning; D* Lite Algorithm; MySQL server; multirobot path planning; replanning algorithm; Genetics; Navigation; Planning; Prediction algorithms; Robots; D*lite; fast re-planning; multi-robot; path planning;
Conference_Titel :
Networking, Sensing and Control (ICNSC), 2015 IEEE 12th International Conference on
Conference_Location :
Taipei
DOI :
10.1109/ICNSC.2015.7116061
