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

4 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

Fingerprint

trajectory planning
Motion planning
robots
Robots
planning
Servers
Planning

Keywords

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

ASJC Scopus subject areas

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

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

Multi-robot path planning based on improved D∗ Lite Algorithm. / Peng, Jung Hao; Li, I. Hsum; Chien, Yi Hsing; Hsu, Chen Chien; Wang, Wei Yen.

ICNSC 2015 - 2015 IEEE 12th International Conference on Networking, Sensing and Control. Institute of Electrical and Electronics Engineers Inc., 2015. p. 350-353 7116061.

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

Peng, JH, Li, IH, Chien, YH, Hsu, CC & Wang, WY 2015, Multi-robot path planning based on improved D∗ Lite Algorithm. in ICNSC 2015 - 2015 IEEE 12th International Conference on Networking, Sensing and Control., 7116061, Institute of Electrical and Electronics Engineers Inc., pp. 350-353, 2015 12th IEEE International Conference on Networking, Sensing and Control, ICNSC 2015, Taipei, Taiwan, 15/4/9. https://doi.org/10.1109/ICNSC.2015.7116061
Peng JH, Li IH, Chien YH, Hsu CC, Wang WY. Multi-robot path planning based on improved D∗ Lite Algorithm. In ICNSC 2015 - 2015 IEEE 12th International Conference on Networking, Sensing and Control. Institute of Electrical and Electronics Engineers Inc. 2015. p. 350-353. 7116061 https://doi.org/10.1109/ICNSC.2015.7116061
Peng, Jung Hao ; Li, I. Hsum ; Chien, Yi Hsing ; Hsu, Chen Chien ; Wang, Wei Yen. / Multi-robot path planning based on improved D∗ Lite Algorithm. ICNSC 2015 - 2015 IEEE 12th International Conference on Networking, Sensing and Control. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 350-353
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