Spatio-temporal A* algorithms for offline multiple mobile robot path planning

Abstract

This paper presents an offline collision-free path planning algorithm for multiple mobile robots using a 2D spatial-time map. In this decoupled approach, a centralized planner uses a Spatio-Temporal A * algorithm to find the lowest time cost path for each robot in a sequentially order based on its assigned priority. Improvements in viable path solutions using wait time insertion and adaptive priority reassignment strategies are discussed.