Cooperative Path Planning for Multiple Mobile Robots via HAFSA and an Expansion Logic Strategy

Applied Sciences

Zhikun Li¹  Yan Jiang¹  Yiqing Huang¹  Lu Cheng¹ 

[1] College of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China;

关键词: path planning;    multiple mobile robots;    artificial fish swarm algorithm;    expansion logic strategy;   

DOI  :  10.3390/app9040672

来源: DOAJ

【 摘 要 】

The cooperative path planning problem of multiple mobile robots in an unknown indoor environment is considered in this article. We presented a novel obstacle avoidance and real-time navigation algorithm. The proposed approach consisted of global path planning and local path planning via HAFSA (hybrid artificial fish swarm algorithm) and an expansion logic strategy. Meanwhile, a kind of scoring function was developed, which shortened the time of local path planning and improved the decision-making ability of the path planning algorithm. Finally, using STDR (simple two dimensional robot simulator) and RVIZ (robot operating system visualizer), a multiple mobile robot simulation platform was designed to verify the presented real-time navigation algorithm. Simulation experiments were performed to validate the effectiveness of the proposed path planning method for multiple mobile robots.

【 授权许可】

Unknown