Shwail, S. H., Karim, A. and Turner, S. J. (2013) Probabilistic multi robot path planning in dynamic environments: a comparison between A* and DFS. International Journal of Computer Applications. 82(7), pp. 29-34. 0975- 8887.
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Abstract:
In this paper, a probabilistic roadmap planner algorithm with the multi robot path planning problem have been proposed by using the A* search algorithm in a dynamic environment. The whole process consists of two phases. In the first phase: Preprocessing phase, the work space is converted into the configuration space, constructing a probabilistic roadmap graph in the free space, and finding the optimal path for each robot using a global planner that avoids the collision with the static obstacles. The second phase: Moving phase, moves each robot in a prioritized manner from its starting point to its ending point through a near optimal path with avoiding collision with the moving obstacles and the other robots. A comparison has been done with the depth first algorithm to see the difference. The simulation results shows that choosing A* search algorithm affect positively the speed of the two phases together in comparison to the depth first search algorithm
Uncontrolled Keywords:
Multi-robot, path planning, decoupled planning, A*, Depth First Search (DFS)
Subjects:
Creators:
Shwail, S. H., Karim, A. and Turner, S. J.
Publisher:
Foundation of Computer Science, New York, USA
Faculties, Divisions and Institutes:
Date:
15 November 2013
Date Type:
Publication
Page Range:
pp. 29-34
Journal or Publication Title:
International Journal of Computer Applications
Volume:
82
Number:
7
Language:
English
DOI:
ISSN:
0975- 8887
Status:
Published / Disseminated
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