Enhance A* Searching Algorithm Applying in Multiple Robot System

摘要

The article programs the shortest motion paths of the multiple mobile robots to be applied in the Chinese chess game, and presents the movement scenario of the chess using mobile robots on the grid based chessboard platform. Users play the chess game using the mouse to obey the evaluation algorithm on the user interface. The user interface programs the motion paths that are the shortest displacement using enhance A* searching algorithm and solves the collision problem of the programmed motion paths for the assigned chesses to and reprogram the new motion paths using enhance A* searching algorithm, too. The supervised computer controls mobile robots according to the programmed motion paths of the assigned chess moving on the platform via wireless RF interface. In the experimental results, we use simulation method to search the motion paths of the assigned chesses on the user interface, and implement the simulation results on the chessboard platform using mobile robots. Mobile robots move on the platform according to the programmed motion paths from the start points to the target points and avoid the collision points.