Research on path planning method of multi mobile robot in dynamic environment

摘要

A path planning structure based on hierarchical idea was adopted in this paper. In this structure, the global path planning is done firstly by the robot and the local online adjusting is done afterward. This kind of structure can debase the calculation complexity of path planning. Then, aiming at the problem of local motion planning, a conflict-resolution strategy based on forecast was presented. It can decompose the restrictions of obstacle avoidance problem by establishing rules so as to debase the complexity of the problem. The reasoning process of this local path planning method is simple and practical. The experiments show that the robots can avoid the obstacles which are not only static ones but also moving ones accurately and effectively and the local path planning method is suitable to the conflict-resolution of multi mobile robots.