Obstacle Avoidance Capability for Multi-Target Path Planning in Different Styles of Search  

作　　者：Mustafa Mohammed Alhassow Oguz Ata Dogu Cagdas Atilla 

机构地区：[1]Department of Electrical and Computer Engineering,Altinbas University,Istanbul,34217,Turkey [2]Department of Software Engineering,Altinbas University,Istanbul,34217,Turkey

出　　处：《Computers, Materials & Continua》2024年第10期749-771,共23页计算机、材料和连续体（英文）

摘　　要：This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without collisions.Each agent is assigned a task within the environment to reach a designated destination.When the map or goal changes unexpectedly,particularly in dynamic and unknown environments,it can lead to potential failures or performance degradation in various ways.Additionally,priority inheritance plays a significant role in path planning and can impact performance.This study proposes a ConflictBased Search(CBS)approach,introducing a unique hierarchical search mechanism for planning paths for multiple robots.The study aims to enhance flexibility in adapting to different environments.Three scenarios were tested,and the accuracy of the proposed algorithm was validated.In the first scenario,path planning was applied in unknown environments,both stationary and mobile,yielding excellent results in terms of time to arrival and path length,with a time of 2.3 s.In the second scenario,the algorithm was applied to complex environments containing sharp corners and unknown obstacles,resulting in a time of 2.6 s,with the algorithm also performing well in terms of path length.In the final scenario,the multi-objective algorithm was tested in a warehouse environment containing fixed,mobile,and multi-targeted obstacles,achieving a result of up to 100.4 s.Based on the results and comparisons with previous work,the proposed method was found to be highly effective,efficient,and suitable for various environments.

关 键 词：Conflict algorithm dynamic environment mobile robot omnidirectional mobile robot unknown environment WAREHOUSE 

分 类 号：TP39[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术]