Visibility Graph (VG) – based path planning method for multi-robot systems

摘要

- This paper addresses path planning algorithms for a multi-robot system based on the Visibility Graph (VG) method.VG has been selected because it produces solutions with optimal path lengths from a start position to a target. However, the main disadvantages of VG are: (1) it plans paths which may go through the vertices of obstacles; (2) the computation time increases with the increased number of obstacles. Therefore, two new algorithms have been developed: Central Algorithm (CA) and its associate, Optimisation Central Algorithm (OCA). Simulation results show that the proposed algorithms can find optimal paths in 2D environments.