A decentralized approach to the conflict-free motion planning for multiple mobile robots

Abstract

Presents a decentralized approach to the conflict-free motion planning for multiple mobile robots. We decompose the problem into global path planning and local path planning. AI techniques are used to solve the global planning problem and we obtain an optimal global path. From the point of view of combining AI techniques with a real-time control technique; a dynamic sub-goal algorithm is put forward to solve the local planning problem for the multi-robot system. The simulation results show the efficiency of the algorithm for real-time multi-robot cooperation.