NDLI: Multi-robot path planning with the spatio-temporal a* algorithm and its variants

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Multi-robot path planning with the spatio-temporal a* algorithm and its variants

Content Provider	ACM Digital Library
Author	Goh, Wooi-Boon Wang, Wenjie
Abstract	This paper presents the design of an offline collision-free path planning algorithm for multiple mobile robots travelling simultaneously on a 2D gridded map. We first solved this problem by extending the traditional A* algorithm into 3D, namely two spatial and one time dimensions. This 3D approach is proved computationally costly and this led to the development of a novel and faster Spatio-Temporal (S-T) A* algorithm. This is a modified A* algorithm, which uses discrete time stamps and a temporal occupancy table to communicate previously planned routes and potential collision among robots. We further adapted the S-T A* algorithm to allow robots to stop and wait near nodes where potential collision is detected in order to increase their probability of finding a viable path to their destination. Using a time-based objective function that requires all robots in the environment to reach their respective destination in the shortest possible time, this decoupled planning strategy was done using a fixed priority based on the slowest robot first. Another variant using an adaptive priority scheme was then introduced to improve the success rate of finding a viable path for all robots as the number of robots in the fixed-sized environment increased. We present experimental results comparing the performance of the various path planning and priority schemes.
Starting Page	313
Ending Page	329
Page Count	17
ISBN	9783642272158
ISSN	03029743
DOI	10.1007/978-3-642-27216-5_22
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2011-05-02
Publisher Place	Berlin, Heidelberg
Access Restriction	Subscribed
Subject Keyword	A* algorithms Multi-robot path planning Offline path planning
Content Type	Text
Resource Type	Article
Subject	Theoretical Computer Science Computer Science

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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