Staff Members - Benha University
A Path Planning Algorithm for Multiple Robots among stationary obstacles
The Egyptian Computer Journal, Institute of Statistical Studies and Research, Cairo University, ISSR, • 1994
Publication Information
Authors
Raafat A. El-Kammar, T. El-Shishtawy, A. El-Dessouki, A. K. El-Sammak
Keywords
Not Available
Journal
The Egyptian Computer Journal, Institute of Statistical Studies and Research, Cairo University, ISSR,
Publisher
Not Available
Volume
22
Issue
1
Pages
Not Available
publication.type
International
Paper Link
Not Available
Supplementary Materials
Not Available
Abstract
This paper presents a fast algorithm for moving multiple robots from their initial to final positions in the presence of obstacles. The algorithm guarantees that neither collisions occur among robots and obstacles, nor collisions among the multiple robots, without loosing much of the robot's speeds.
Based on heuristic guided search function, a collision free path segments are designed for each robot to avoid obstacles, while ignoring the movements of other robots. The algorithm then move the robots with their maximum speeds along the designed paths to test the collision among robots. When a collision is detected, the algorithm computes the maximum robot's speeds to just avoid collisions, according to a robot priority list and the maximum allowed speed for each robot
Based on heuristic guided search function, a collision free path segments are designed for each robot to avoid obstacles, while ignoring the movements of other robots. The algorithm then move the robots with their maximum speeds along the designed paths to test the collision among robots. When a collision is detected, the algorithm computes the maximum robot's speeds to just avoid collisions, according to a robot priority list and the maximum allowed speed for each robot