Multi-Robot Path Planning using Dijkstra’s Algorithm with Multi-layer Dictionaries

Abstract

Path planning is the first task for a Robot to autonomously navigate, especially for autonomous Robots. For multi-Robot systems the process is more complex than a single Robot system. The commonly known algorithms for path planning usually finds solutions for single Robot systems and do not propose ideas for multi-Robot systems. In this paper an enhanced Dijkstra's algorithm for multi-Robot systems with a multi-layer dictionary is used to navigate multiple Robots on an indoor map autonomously and simultaneously. Simulation and Experimental results show that the proposed enhanced algorithm was able to generate paths for the multiple Robots that where navigating through the map simultaneously and assigning optimal or feasible paths for the Robots to navigate through.