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.
| Item Type: | Article |
|---|---|
| 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: | T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| Creators: | Shwail, Safaa H, Karim, Alia and Turner, Scott J |
| Publisher: | Foundation of Computer Science, New York, USA |
| Faculties, Divisions and Institutes: |
University Faculties, Divisions and Research Centres - OLD > Research Group > Science and Technology Research in Pedagogy Research Centres > Science and Technology Research in Pedagogy |
| 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: | https://doi.org/10.5120/14130-2251 |
| ISSN: | 0975- 8887 |
| Status: | Published / Disseminated |
| URI: | http://nectar.northampton.ac.uk/id/eprint/6066 |
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