A solution for priority-based multi-robot path planning problem with obstacles using ant lion optimization

摘要

This paper provides a Priority-based Optimized-Hybrid Asynchronous Centralized and Decentralized (POHACD) algorithm for multi-robot path planning (MRPP) issue, where multiple robots communicate with each other, as well as through collision check makes their decision. The priority-based approach provides priority to each robot thus bypassing another robot in conflict situation. Optimization lies in terms of minimal path length. The proposed hybrid asynchronous algorithm leverages the centralized approach to improve the overall system efficiency and distributed approach to reduce communication overhead, which automatically reduces execution time. This algorithm prevents unnecessary communication by transmitting global information and in the meantime limits specific information that is only in the interest of certain robots. By carrying out the simulations, it has been demonstrated that the ant lion optimization for prioritized planning performs better in all the roadmaps.