Traversability Assessment and Path Planning Using Obstacle Recognition Information for Multi-Robot System

Abstract

This research proposes a method for traversability analysis and path planning using obstacle recognition information in a multi-robot system. To avoid collisions and optimize paths in environments with multiple robots, we present a method where robots share obstacle information and plan their paths accordingly. Obstacle information detected by each robot is monitored by a central server, which uses this information to dynamically replan the path. Experimental results show that sharing obstacle information enables robots to consider out-of-view obstacles, reducing collision risks and enhancing system efficiency compared to non-collaborative systems. This research demonstrates the feasibility of flexible path replanning based on obstacle information for the efficient operation of multiple robots.