Multi-agent Optimal Path Planning for Mobile Robots in Environment with Obstacles

Authors:
Fedor A. Kolushev;Alexander A. Bogdanov
Affiliations:
-;-
Venue:
PSI '99 Proceedings of the Third International Andrei Ershov Memorial Conference on Perspectives of System Informatics
Year:
1999

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Abstract

The paper describes a problem of multi-agent path planning in environment with obstacles. Novel approach to multi-agent optimal path planning, using graph representation of environment models is described. When planning the path of each robot, the graph model of environment is dynamically changed for path correction and collision avoidance. New algorithm applies changes of robots' paths and speeds to avoid collisions in multi-agent environment.