A Path Planning Strategy for Multi-Robot Moving with Path-Priority Order Based on a Generalized Voronoi Diagram
| Autor: | Chung Hsun Sun, Wen June Wang, Sheng Kai Huang |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Technology
QH301-705.5 Computer science QC1-999 collision-free Computer Science::Robotics multi-robot path planning General Materials Science Point (geometry) Motion planning Biology (General) Voronoi diagram QD1-999 Instrumentation Fluid Flow and Transfer Processes path-priority order Physics Process Chemistry and Technology General Engineering Dijkstra algorithm Engineering (General). Civil engineering (General) Computer Science Applications Chemistry Path (graph theory) Trajectory Benchmark (computing) Robot TA1-2040 Dijkstra's algorithm Algorithm |
| Zdroj: | Applied Sciences Volume 11 Issue 20 Applied Sciences, Vol 11, Iss 9650, p 9650 (2021) |
| ISSN: | 2076-3417 |
| DOI: | 10.3390/app11209650 |
| Popis: | This paper proposes a new path planning strategy called the navigation strategy with path priority (NSPP) for multiple robots moving in a large flat space. In the space, there may be some static or/and dynamic obstacles. Suppose we have the path-priority order for each robot, then this article aims to find an efficient path for each robot from its starting point to its target point without any collision. Here, a generalized Voronoi diagram (GVD) is used to perform the map division based on each robot’s path-priority order, and the proposed NSPP is used to do the path planning for the robots in the space. This NSPP can be applied to any number of robots. At last, there are several simulations with a different number of robots in a circular or rectangular space to be shown that the proposed method can complete the task effectively and has better performance in average trajectory length than those by using the benchmark methods of the shortest distance algorithm (SDA) and reciprocal orientation algorithm (ROA). |
| Databáze: | OpenAIRE |
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