Space D*: a path-planning algorithm for multiple robots in unknown environments

• Autor(a) principal: Silveira, Luan
• Data de Publicação: 2012
• Outros Autores: Maffei, Renan de Queiroz, Botelho, Silvia Silva da Costa, Junior, Paulo Lilles Jorge Drews, Bicho, Alessandro de Lima, Filho, Nelson Lopes Duarte
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Institucional da FURG (RI FURG)
• Texto Completo: http://repositorio.furg.br/handle/1/4704
• topic: Path-planning; Multi-robot systems; Collision avoidance ·; Space colonization algorithm; D* Lite algorithm

This paper describes a new method of pathplanning for multiple robots in unknown environments. The method, called Space D*, is based on two algorithms: the D*, which is an incremental graph search algorithm, and the Space Colonization algorithm, previously used to simulate crowd behaviors. The path-planning is achieved through the exchange of information between the robots. So decentralized, each robot performs its path-planning, which provides an obstacle-free path with the least number of robots around. The major contribution of the proposed method is that it generates paths in spacious environments facilitating the control of robots and thus presenting itself in a viable way for using in areas populated with multiple robots. The results obtained validate the approach and show the advantages in comparison with using only the D* method.