Collision Avoidance And Coordination Of Path-planning For Multiple Mobile Robots

Path planning is a key issue in intelligent robotics. Multiple mobile robots path planning is to find out optimal and collision free path, which connects the start point and the goal point, for every mobile robot in the same work space. Most of recent multiple robot researches attach eyes on the path planning problem in known environment. The issue in unknown environment could not be solved by global planning methods. There have been some methods and policies, but a satisfactory theory is far from established and it is lack of effective and efficient method.In order to solve multiple mobile robots path planning problem in unknown environment, this paper presents a global objective function. Inspired by the idea of single robot rolling path planning algorithm, multiple robots distributed rolling path planning algorithm is designed. For the purpose of coordinating the path conflicts, the predictive avoiding crash...