Multi-robot path planning based on the developed RRT* algorithm
Li, Rongxin Cui, Chenguang Yang, Demin Xu · Chinese Control Conference · 2013
In this paper, we investigate the multi-robot path planning problem, with both the robot motion constrains and the conflictions among the robots taken into account. We have extended the RRT* algorithm by considering the motion constraints and the sensor ranges of the robots and calculate the path of the robots in real time. Simulation studies are performed to show the effectiveness of our algorithm.