Priority Based Dynamic Multiple Robot Path Planning

Abstract

Path planning has been a topic of research in multiple robot coordination and control.The purpose of this paper is to investigate the path planning problem of a group of robots with communication between each other to perform a set of prioritized tasks in a dynamic environment.Unlike traditional path planning approaches that a path does not change once the path has been planned, the approach investigated in this paper plans each robot's path dynamically, i.e., the path will change according to the environment.When one robot starts to perform or finishes a task, it broadcasts the task's start position or goal position to other robots.Then other robots will change their paths if the broadcast position has influence on their planned paths.