Path Planning of Cooperative Robotics and Robot Team

Abstract

Four primitive behaviors called move-to-goal, avoid-static-obstacle, avoid-dynamic obstacle and avoid-robot behaviors are introduced for the path planning of multi-robot. This path planning is based on cooperation and inclination intensity algorithm. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully and adapt to unexpected events in the environment. This method also can be used for robot team in formation or even for coordinating multiple robots in the execution of cooperative tasks. The results of simulation show its effectiveness.