A Multi-Robot Planning Algorithm with Quad Tree Map Division for Obstacles of Irregular Shape

摘要

This paper proposes an algorithm to improve the efficiency of the multi-robot system in simulated global information map containing obstacles. The designed multi-AGV scheduling algorithm is based on an optimal shortest path algorithm with the combination of the waiting mode and motion coordination. The proposed shortest path algorithm not only has lower time delay but also decreases the possibility of collision of the multi-robot system. In addition, simulated global information maps are established to test the efficacy of the algorithm.