Priority Scheduling based Dynamic Path Planning System with Motion Feedback
Vignesh Ravikumar, Sriram Shreedharan, M. Senthil Kumaran · 2020
Mobile Robots have become an integral part of the environment and one of the main focus is on multiple robot coordination systems. This research article proposes a modified grid-based A* path planning algorithm that can be used for the simultaneous planning and motion of mobile robots in a dynamic environment. The algorithm includes priority-based scheduling of robots for practical applications. It also takes into account, the re-planning of the path of the robot using motion feedback from encoders, in the case where the robot leaves the configuration space due to dynamic obstacles. A multi-robot system is set up to verify the proposed method of path planning.