Multi-robot path planning based on improved D∗ Lite Algorithm

Jung Hao Peng, I. Hsum Li, Yi Hsing Chien, Chen Chien Hsu, Wei Yen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes an improved multi-robot path planning algorithm for finding the path via interacting with multiple robots. The task is to find the path with a minimum amount of computation time by using fast re-planning algorithm. To solve multi-robot path planning problem which cannot be executed in real-time, we regard other robots, exclusive the origin robot, as obstacles. Therefore, the robot uploads location information to the MySQL server to plan a safe distance between robots.

Original languageEnglish
Title of host publicationICNSC 2015 - 2015 IEEE 12th International Conference on Networking, Sensing and Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages350-353
Number of pages4
ISBN (Electronic)9781479980697
DOIs
Publication statusPublished - 2015 Jun 1
Event2015 12th IEEE International Conference on Networking, Sensing and Control, ICNSC 2015 - Taipei, Taiwan
Duration: 2015 Apr 92015 Apr 11

Other

Other2015 12th IEEE International Conference on Networking, Sensing and Control, ICNSC 2015
CountryTaiwan
CityTaipei
Period15/4/915/4/11

Keywords

  • D
  • fast re-planning
  • lite
  • multi-robot
  • path planning

ASJC Scopus subject areas

  • Instrumentation
  • Control and Systems Engineering
  • Computer Networks and Communications

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  • Cite this

    Peng, J. H., Li, I. H., Chien, Y. H., Hsu, C. C., & Wang, W. Y. (2015). Multi-robot path planning based on improved D∗ Lite Algorithm. In ICNSC 2015 - 2015 IEEE 12th International Conference on Networking, Sensing and Control (pp. 350-353). [7116061] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICNSC.2015.7116061