Path planning for multi-robot systems using PSO and Critical Path Schedule Method

摘要

In recent years, there are more and more situations that need robots to do dangerous and complex works instead of human, to improve the efficiency and reduce the risk. Path planning for multi-robot systems is one of the most important problems to solve in practice. As the improvements in communication and control technology of robots, an algorithm is proposed using Particle Swarm Optimization and Critical Path Schedule Method to do path planning for multi-robot systems to reach the targets without collision not only between the robots but also between the robots and environment. Different from traditional method, a schedule is proposed on the planned optimal or feasible path to enable the robots to avoid collisions and minimize the cost such as time, distance. Moreover, a simulation experiment is given to verify the validity of proposed algorithm, whereby the environment is studied in a two dimensional free space.