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Full-Text Articles in Physical Sciences and Mathematics
Research On Path Planning Methods For Underground Roadheader Robots, Zhang Xuhui, Zheng Xili, Yang Wenjuan, Li Yuyang, Ma Bing, Dong Zheng, Chen Xin
Research On Path Planning Methods For Underground Roadheader Robots, Zhang Xuhui, Zheng Xili, Yang Wenjuan, Li Yuyang, Ma Bing, Dong Zheng, Chen Xin
Coal Geology & Exploration
In order to solve the problems of difficulty and low efficiency in the movement of robotic roadheaders under conditions of non-full-section roadways in coal mines, the characteristics of unstructured environments in coal mines and the motion characteristics of robotic roadheaders were analyzed, and a path planning method for robotic roadheaders based on deep reinforcement learning was proposed. The tunnel environment was constructed in real time using depth cameras, a virtual model for detecting roadheader-tunnel collisions was established, collision detection was performed in a virtual environment using the hierarchical bounding box method, and an obstacle avoidance strategy under the restrictions of …
Path Planning For Improvement Of A* Algorithm And Artificial Potential Field Method, Xiang Yu, Chen Jiang, Sirui Duan, Qianrui Deng
Path Planning For Improvement Of A* Algorithm And Artificial Potential Field Method, Xiang Yu, Chen Jiang, Sirui Duan, Qianrui Deng
Journal of System Simulation
Abstract: A* algorithm has the problem of too many polyline paths and search nodes, while the artificial potential field (APF) method has the problems of local optimality and unattainability. These problems are investigated in this paper. A new hybrid heuristic function is proposed based on the Euclidean distance and projection distance, based on which the A* algorithm process is improved accordingly. The search nodes of the A* algorithm are reduced, and the search efficiency is improved. The optimal node generated by the new A* algorithm is used as the local target point of the APF algorithm to assist in getting …
Urban Uav Path Planning Based On Improved Beetle Search Algorithm, Qingqing Yang, Minyi Deng, Yi Peng
Urban Uav Path Planning Based On Improved Beetle Search Algorithm, Qingqing Yang, Minyi Deng, Yi Peng
Journal of System Simulation
Abstract: An improved SABAS is proposed to improve the safety and path smoothing of UAV missions in urban multi-obstacle environments and to obtain the shortest path. The algorithm no longer completely depends on the difference of odor concentration between the left and the right tentacles of beetle when exploring the path for position update. Instead, it makes full use of the strong searching ability of BAS algorithm, and introduces the annealing algorithm to add the neighborhood position solution of the next position, and finally selects the next best position from the neighborhood position solution. Metropolis criterion of annealing algorithm is …
Obstacle Avoidance Path Planning And Simulation Of Mobile Picking Robot Based On Dppo, Junqiang Lin, Hongjun Wang, Xiangjun Zou, Po Zhang, Chengen Li, Yipeng Zhou, Shujie Yao
Obstacle Avoidance Path Planning And Simulation Of Mobile Picking Robot Based On Dppo, Junqiang Lin, Hongjun Wang, Xiangjun Zou, Po Zhang, Chengen Li, Yipeng Zhou, Shujie Yao
Journal of System Simulation
Abstract: Aiming at the autonomous decision-making difficulty of mobile picking robots in random and changeable complicated path environment during field operations, an autonomous obstacle avoidance path planning method based on deep reinforcement learning is propose. By setting the state space and action space and using the artificial potential field method to design the reward function, an obstacle penalty coefficient setting method based on collision cone collision avoidance detection is proposed to improve the autonomous collision avoidance ability. A virtual simulation system is constructed, in which the learning and training of the mobile picking robot is carried out and verified by …
Intelligent Path Planning For Mobile Robots Based On Sac Algorithm, Laiyi Yang, Jing Bi, Haitao Yuan
Intelligent Path Planning For Mobile Robots Based On Sac Algorithm, Laiyi Yang, Jing Bi, Haitao Yuan
Journal of System Simulation
Abstract: Aiming at the high dimension, slow convergence and complex modelling of traditional path planning algorithms for mobile robots, a new intelligent path planning algorithm is proposed, which is based on deep reinforcement learning soft actor-critic (SAC) algorithm to save the poor performance of robot in complicated environments with static and dynamic obstacles. An improved reward function is designed to enable mobile robots to quickly avoid obstacles and reach targets by using state dynamic normalization and priority experience pool techniques. To evaluate the performance, a pygame-based simulation environment is constructed. Compared with proximal policy optimization(PPO) algorithm, experimental …
Path Planning Of Mobile Robots Based On Memristor Reinforcement Learning In Dynamic Environment, Hailan Yang, Yongqiang Qi, Baolei Wu, Dan Rong
Path Planning Of Mobile Robots Based On Memristor Reinforcement Learning In Dynamic Environment, Hailan Yang, Yongqiang Qi, Baolei Wu, Dan Rong
Journal of System Simulation
Abstract: In order to solve the path planning problem of mobile robots in dynamic environment, two-layer path planning algorithm based on improved ant colony algorithm and MA-DQN algorithm is proposed. Static global path planning is accomplished by ant colony algorithm that improved the probabilistic transfer function and the pheromone updating principle; the traditional DQN algorithm structure is improved by using the memristor as the synaptic structure of neural network, and then completed the local dynamic obstacle avoidance of the mobile robot. The path planning mechanism is switched according to whether there are dynamic obstacles within the sensing range of the …
Simulation Of Real-Time Path Planning And Formation Control For Unmanned Surface Vessel, Dalei Song, Wenhao Gan, Yingzhi Xu, Xiuqing Qu, Jiangli Cao
Simulation Of Real-Time Path Planning And Formation Control For Unmanned Surface Vessel, Dalei Song, Wenhao Gan, Yingzhi Xu, Xiuqing Qu, Jiangli Cao
Journal of System Simulation
Abstract: Safety and collision-free navigation are the basis of normal navigation of an unmanned surface vessel. The high-fidelity virtual ocean is constructed by using Unity3D.On the basis of the vessel modeling, a real-time path planning and formation control method for unknown complex environments is proposed. Firstly, the local environment information is obtained by the laser sensor. Then the real-time local path planning is completed by combining A-star and route-thinning methods under the replanning strategy. In addition, formation control is carried out based on the leader-follower strategy and consistency method, and the artificial potential field …
Obstacle Avoidance And Simulation Of Carrier-Based Aircraft On The Deck Of Aircraft Carrier, Junxiao Xue, Xiangyan Kong, Bowei Dong, Hao Tao, Haiyang Guan, Lei Shi, Mingliang Xu
Obstacle Avoidance And Simulation Of Carrier-Based Aircraft On The Deck Of Aircraft Carrier, Junxiao Xue, Xiangyan Kong, Bowei Dong, Hao Tao, Haiyang Guan, Lei Shi, Mingliang Xu
Journal of System Simulation
Abstract: A predictive depth deterministic policy gradient (PDDPG) algorithm is proposed by combining the least squares method with deep deterministic policy gradient(DDPG) for the problems of strong randomness, poor real-time performance, and slow planning speed by obstacle avoidance on aircraft carrier deck. The short-term trajectory of dynamic obstacles on the deck is predicted by the least square method. DDPG is used to provide agents with the ability to learn and make decisions in continuous space by the short-term trajectory of dynamic obstacles. The reward function is set based on the artificial potential field to improve the convergence speed and accuracy …
Research On Cooperative Path Planning Model Of Multiple Unmanned Vehicles In Real Environment, Guohui Zhang, Xuan Wang, Yanan Zhang, Ang Gao
Research On Cooperative Path Planning Model Of Multiple Unmanned Vehicles In Real Environment, Guohui Zhang, Xuan Wang, Yanan Zhang, Ang Gao
Journal of System Simulation
Abstract: The cluster combat application of unmanned ground vehicles(UVS) is a hot research issue of the intersection of artificial intelligence and battle command. Aiming at the cooperative path planning multiple unmanned vehicles not meeting the dynamic threat condition requirement, by combining the global path planning algorithm A-STAR with the local path planning algorithm RL, from the perspective of perception to behavioral decision making, the cooperative path planning model of multiple unmanned vehicles is studied. The cooperative combat situation threat algorithm, state and action space, reward function and sphere of influence function are designed, the sub-models of formation configuration strategy generation …
Path Planning Of Coal Mine Rescue Robot Based On Improved A* Algorithm, Zhang Weimin, Zhang Yue, Zhang Hui
Path Planning Of Coal Mine Rescue Robot Based On Improved A* Algorithm, Zhang Weimin, Zhang Yue, Zhang Hui
Coal Geology & Exploration
A coal mine rescue robot that performs a rescue task needs to obtain the environment model and plan a collision-free path from the current location to the target location with the built-in algorithm upon receiving a task instruction. In order to reduce the moving time of the rescue robot, the path is usually required to be time-optimal. However, the path planned by the conventional A* algorithm that is widely used at present under the grid map environment has many problems, such as many path redundancy points and large turning angle, which leads to the fact that the path is suboptimal …
Multi-Robot Path Planning Based On Cbs Algorithm, Qiao Qiao, Yan Wang, Zhicheng Ji
Multi-Robot Path Planning Based On Cbs Algorithm, Qiao Qiao, Yan Wang, Zhicheng Ji
Journal of System Simulation
Abstract: Aiming at the long multi-robot planning path and long one-way search running time of conflict-based search(CBS) in the multi-agent path finding(MAPF), an improved CBS algorithm is proposed, which in a two-way A* focus search is used to optimize the search direction and search method. The suboptimal factorωis introduced into the underlying search function of the CBS algorithm to improve the efficiency of path search. The one-way search in the conflict search algorithm is optimized to a two-way A* search. The experimental results show that the path cost of the improved CBS algorithm is shortened …
Particle Swarm Algorithm For Solving Emergency Material Dispatch Considering Urgency, Li Zhang, Huizhen Zhang, Dong Liu, Yuxin Lu
Particle Swarm Algorithm For Solving Emergency Material Dispatch Considering Urgency, Li Zhang, Huizhen Zhang, Dong Liu, Yuxin Lu
Journal of System Simulation
Abstract: In the early stage of major public health events, medical supplies are rapidly consumed and severely insufficient. In order to distribute medical supplies in a reasonable and efficient manner, research on the distribution of emergency medical materials is carried out. The entropy method is introduced to determine the urgency of demand points, thus could give priority to the demand points with high urgency and make the distribution routing as short as possible on that basis to realize the construction of a split delivery and multi-objective emergency medical materials scheduling model based on different urgency of demand points. Meanwhile the …
Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang
Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang
Journal of System Simulation
Abstract: Aiming at the low efficiency of emergency evacuation at sea, an emergency evacuation system based on improved A* algorithm is proposed. Based on the network flow model, the traversal mode of the adjacency node is used to complete the path search, and the influence of the path personnel density and path obstacles is added to the calculation of the cost, which makes the algorithm more practical. In order to improve the efficiency of the algorithm, the node optimization of the network is carried out, and a multi-path optimal scheme is proposed in the case of single layer with multiple …
Research On 3d Path Planning Algorithm Based On Fast Rrt Algorithm, Zhaoqiang Li, Shiyu Zhang
Research On 3d Path Planning Algorithm Based On Fast Rrt Algorithm, Zhaoqiang Li, Shiyu Zhang
Journal of System Simulation
Abstract: RRT (rapidly exploring random tree) algorithm is a sampling-based path planning algorithm, which can search a path in high-dimensional environment. The traditional RRT algorithm has the problems of low node utilization and large amount of calculation. To solve these problems, the fast RRT* (Quick RRT*) algorithm is improved by optimizing the strategy of reselection of parent node and pruning range, improving the sampling method and introducing adaptive step size, which makes the algorithm time-consuming and path length shorter. At the same time, the node connection screening strategy is added to eliminate the excessive turning angle in the path. …
Dqn-Based Path Planning Method And Simulation For Submarine And Warship In Naval Battlefield, Xiaodong Huang, Haitao Yuan, Bi Jing, Liu Tao
Dqn-Based Path Planning Method And Simulation For Submarine And Warship In Naval Battlefield, Xiaodong Huang, Haitao Yuan, Bi Jing, Liu Tao
Journal of System Simulation
Abstract: To realize multi-agent intelligent planning and target tracking in complex naval battlefield environment, the work focuses on agents (submarine or warship), and proposes a simulation method based on reinforcement learning algorithm called Deep Q Network (DQN). Two neural networks with the same structure and different parameters are designed to update real and predicted Q values for the convergence of value functions. An ε-greedy algorithm is proposed to design an action selection mechanism, and a reward function is designed for the naval battlefield environment to increase the update velocity and generalization ability of Learning with Experience Replay (LER). Simulation results …
Obstacle Avoidance Path Planning Of Bridge Crane Based On Improved Rrt Algorithm, Zhimei Chen, Li Min, Xuejuan Shao, Zhicheng Zhao
Obstacle Avoidance Path Planning Of Bridge Crane Based On Improved Rrt Algorithm, Zhimei Chen, Li Min, Xuejuan Shao, Zhicheng Zhao
Journal of System Simulation
Abstract: In view of the problem that the reasonable path can not be obtained quickly for bridge crane planning in complex environment, a rapidly exploring random tree (RRT) algorithm combined with particle swarm algorithm is proposed. According to the characteristics of the bridge crane operation, the RRT algorithm is improved. The two-way RRT algorithm is used to make the tree grow in the direction of the target according to the probability. When the path is generated, the particle swarm optimization algorithm is used to smooth the path to get a more suitable path for the operation of the bridge crane. …
Sea Ice Warning Visualization And Path Planning For Ice Navigation Based On Radar Image Recognition, Tsung-Hsuan Hsieh, Shengzheng Wang, Huijia Gong, Wei Liu, Ning Xu
Sea Ice Warning Visualization And Path Planning For Ice Navigation Based On Radar Image Recognition, Tsung-Hsuan Hsieh, Shengzheng Wang, Huijia Gong, Wei Liu, Ning Xu
Journal of Marine Science and Technology
Ice navigation is currently one of the important issues in path planning studies. Most studies are using sea ice models or ice charts for large-scale path planning, but the weather and ice conditions in the polar waters usually change quickly and are not easy to predict. Under these conditions, small-scale path planning that can be adjusted in time for sea ice collision avoidance is needed. This study uses marine radar imaging to reconstruct the ice navigation scene, and establishes a visual-ization function of sea ice warning on the radar image. We combine the bidirectional rapidly-exploring random tree (B-RRT) algorithm and …
Path Designing Of Multi-Omnidirectional Wheel Collaborative Sorting Platform, Li Qi, Wang Wei
Path Designing Of Multi-Omnidirectional Wheel Collaborative Sorting Platform, Li Qi, Wang Wei
Journal of System Simulation
Abstract: Aiming at the problems of low efficiency, high labor cost and low flexibility of traditional logistics sorting system, an automatic logistics sorting system is designed. The improved A* algorithm and the artificial potential field method are used to realize the automatic path planning of the system by taking the transportation path as the research object. The A* algorithm is improved by adjusting the weights of actual cost and estimated cost, and the artificial potential field method is improved by adding virtual sub-target points and adjusting adaptive parameters, so as to complete the function of path planning of goods. Simulation …
Obround Trees: Sparsity Enhanced Feedback Motion Planning Of Differential Driverobotic Systems, Mustafa Mert Ankarali
Obround Trees: Sparsity Enhanced Feedback Motion Planning Of Differential Driverobotic Systems, Mustafa Mert Ankarali
Turkish Journal of Electrical Engineering and Computer Sciences
Robot motion planning & control is one of the most critical and prevalent problems in the robotics community. Even though original motion planning algorithms had relied on "open-loop" strategies and policies, researchers and engineers have been focusing on feedback motion planning and control algorithms due to the uncertainties, such as process and sensor noise of autonomous robotic applications. Recently, several studies proposed some robust feedback motion planning strategies based on sparsely connected safe zones. In this class of planning and control policies, local control policy inside a single zone computes and feeds the control actions that can drive the robot …
3d Real-Time Visualization And Simulation Platform For Collaborative Path Planning Of Ua, Chen Gong, Xu Lei, Zhiyong Su
3d Real-Time Visualization And Simulation Platform For Collaborative Path Planning Of Ua, Chen Gong, Xu Lei, Zhiyong Su
Journal of System Simulation
Abstract: There are still some issues existing in current path planning of UAV, such as planning result simulation verification and 3D visualization. To solve the problems, a 3D real-time visualization and simulation platform for collaborative path planning of UAV was proposed. The target area was divided and calculated. The reconnaissance beam of UAV was modeled with virtual camera, the intersection points obtained quickly based on graphics hardware. The terrain mesh was calculated by scan-line polygon filling algorithm, reconnaissance information was recorded and analyzed, and the color temperature maps were given. Through the actual operation by the simulation platform, simulation …
Cooperative Task Assignment Simulation Of Multi-Uavs In Dynamic Environments, Tizhou Qiao, Xinping Guo, Yawei Li, Wenjun Zhang, Zhongyi Yin
Cooperative Task Assignment Simulation Of Multi-Uavs In Dynamic Environments, Tizhou Qiao, Xinping Guo, Yawei Li, Wenjun Zhang, Zhongyi Yin
Journal of System Simulation
Abstract: In order to address the problem of cooperative task assignment for multiple UAVs, a parallel simulation framework was proposed for cooperative task planning based on HLA/RTI simulation through UAV aerodynamic simulations and flight control simulation, which could be more real and effective algorithm validation. The paths were optimized to account for randomization and threats in the environment by modeling the probability of UAV loss. By coupling the failure probabilities of each UAV to the missions of the other UAVs, reality of cooperation was improved significantly. In order to achieve the desired objectives, the stochastic simulation models were used to …
Fast Generating Algorithm Of Interest Roaming Path Based On Freehand Sketch, Dongjin Huang, Pengbin Tang, Youdong Ding
Fast Generating Algorithm Of Interest Roaming Path Based On Freehand Sketch, Dongjin Huang, Pengbin Tang, Youdong Ding
Journal of System Simulation
Abstract: Considering properties of touch interaction of intelligent terminals, a fast generating algorithm of interest roaming path based on freehand sketch was proposed and applied in the 3D mobile interactive system of virtual display. The self-adapting reduce method was adopted to optimize the feature points of sketch curve for addressing too much feature points in local. The piecewise curve fitting method was used to quickly generate smooth obstacle avoidance path for handling the case of sketch line over the obstacle, and the final roaming path was adjusted to approximate the freehand sketch as much as possible by error control. Experimental …
Design And Application Of Underwater Unmanned Vehicle Simulation System For Navigation And Obstacle Avoidance, Zheng Wei, Qiming Zou, Wenxi Ni
Design And Application Of Underwater Unmanned Vehicle Simulation System For Navigation And Obstacle Avoidance, Zheng Wei, Qiming Zou, Wenxi Ni
Journal of System Simulation
Abstract: Accurate navigation and location, effective detection and realtime obstacle avoidance are the bases of Underwater Unmanned Vehicle (UUV) for long voyage mission accomplishment. To achieve intellectual demonstration and validation functions of UUV, which was studied on the base of integrated navigation model and dynamic obstacle-avoidance strategy on detection, the systems analysis aimed to simulated object characteristics was accomplished. Besides, models-component encapsulation method together with concurrent multi-thread simulation skeleton on discrete events was derived, followed by designed UUV navigation and obstacle-avoidance simulation system, compartmentalized function modules and marked-out simulation flow. The simulation application of UUV was achieved to …
Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang
Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang
Journal of System Simulation
Abstract: There are shortcomings such as premature convergence, high encoding dimension and unsmooth path for particle swarm optimization (PSO) algorithm to solve the robot path planning problem under free space. The particle coding is coordinates of several path nodes in the environment. The number of spline curves and the maximum turnings of path were determined by the number of path nodes. The cubic spline function was used to interpolate on the path of the starting point, path nodes and target point, thus a full path which was formed by connecting all interpolation points was obtained. Simulation results show that …
Cruise Missile Path Planning Based On Aco Algorithm And Bezier Curve Optimization, Shi Yan, Lihua Zhang, Shouquan Dong, Jue Wang
Cruise Missile Path Planning Based On Aco Algorithm And Bezier Curve Optimization, Shi Yan, Lihua Zhang, Shouquan Dong, Jue Wang
Journal of System Simulation
Abstract: For the low-altitude penetration of cruise missile, there is a large number of steering points and a larger steering angle in missile path planning based on ant colony algorithm. In order to solve this problem, a three-dimensional path planning method based on ant colony algorithm and Bezier curve optimization is proposed. The planning path node generated by ant colony algorithm was used as the control point to generate the flight path of Bezier curve, and then the curve was changed to be broken lines path. In order to avoid the unnavigable section, using the breadth first search algorithm to …
Improving Coverage Method Of Autonomous Drones For Environmental Monitoring, Ömür Yildirim, Revna Acar Vural, Klaus Diepold
Improving Coverage Method Of Autonomous Drones For Environmental Monitoring, Ömür Yildirim, Revna Acar Vural, Klaus Diepold
Turkish Journal of Electrical Engineering and Computer Sciences
With the rapid developments of unmanned aerial vehicles (UAVs), usage of UAVs is increasing to bring autonomy for complicated processes such as environmental monitoring. Because of the complexity of the problem, environmental monitoring tasks are highly demanding in terms of time and resources. To reduce expensive costs of operations, improvements on autonomous observation capabilities has a key role. In this work, we offer coverage improvements for our autonomous environmental monitoring system. We compared different path planning approaches to find out the optimum path planning solution. Simulation results showed that required task execution time and required resources are decreased by usage …
Connectivity Considerations For Mission Planning Of A Search And Rescue Drone Team, Evşen Yanmaz Adam
Connectivity Considerations For Mission Planning Of A Search And Rescue Drone Team, Evşen Yanmaz Adam
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, we analyze the mission success performance and mission times of centralized, distributed, and hybrid path-planning methods for a drone team whose mission is to find a target and inform the ground control. We propose two methods that integrate connectivity into the search mission path decisions. We observe that even though the coverage path-planning leads to lower search times, when target connectivity is also required, schemes that incorporate end--end connectivity into path planning result in at least 50 % better mission times for small communication ranges and lower number of drones. Our results also indicate that methods to …
Path Planning For Mobile Sink Based On Enhanced Ant Colony Optimization Algorithm In Wireless Sensor Networks, Shanshan Ji
Path Planning For Mobile Sink Based On Enhanced Ant Colony Optimization Algorithm In Wireless Sensor Networks, Shanshan Ji
Journal of System Simulation
Abstract: To reduce the energy consumption and sink mobile distance of mobile sink wireless sensor networks simultaneously, a path planning algorithm for mobile sink based on enhanced ant colony optimization algorithm in wireless sensor networks is proposed. Genetic operators are introduced to ant colony optimization algorithm in order to prevent ant colony optimization premature. The non-uniform of data distribution is considered as the constraint condition, the network lifetime and sink mobile distance are considered as a multi-objective problem, and the enhanced ant colony optimization is adopted to search the Pareto sub-optimal sets of rendezvous points. The simulation results show that …
Virtual Scene Roaming Method Supporting Multi-Layer Path Planning, Shi Min, Yukun Wei, Xiangchen Jin, Suqin Wang, Tianlu Mao
Virtual Scene Roaming Method Supporting Multi-Layer Path Planning, Shi Min, Yukun Wei, Xiangchen Jin, Suqin Wang, Tianlu Mao
Journal of System Simulation
Abstract: Taking the automatic role pathfinding in three-dimensional virtual scene as the research background, the author proposes a method of multi-layer pathfinding based on A-star algorithm, and uses advanced heuristic functions to evaluate the cost values of various expansion nodes to confirm the optimal solution to the problems. By introducing collision detection mechanism, the navigation path generated by the improved A* algorithm is modified to avoid collision; and by interpolating the fixed path, the smooth navigation path is constructed using Bézier Curve. The experimental results show that the path finding results can well adapt to the multi-layer case when the …
Ti-A* Based Multi-Robot Dynamic Planning And Coordination Method, Zhao Ping, Xinyu Lei, Bozhi Chen, Jiaoyun Yang
Ti-A* Based Multi-Robot Dynamic Planning And Coordination Method, Zhao Ping, Xinyu Lei, Bozhi Chen, Jiaoyun Yang
Journal of System Simulation
Abstract: Multiple robots path planning problem in dynamic environment is one of the significant and basic problems of cluster robot perception and coordination. The planning problem is decomposed into two modules: the path planning and the conflict coordination. By introducing time-cost function, the Time Integrated A* algorithm (TI-A*) is introduced. Variable speed is employed simultaneously to coordinate the motion and hereby to avoid the deadlock and conflict. By adjusting the timing when the coordination phase is involved, two different coordination TI-A* algorithms are presented, including the speed-changing algorithm and path-changing algorithm. The two algorithms are compared and the respective …