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Probabilistic multi robot path planning in dynamic environments: a comparison between A* and DFS

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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