Generalization of a Stateful Graph Search Algorithm Applied to Heterogeneous Mobile Robot Path Planning
Fabian Menebröker, Dennis Lünsch, Marc Hantzsch, Utku Pazarci · 2024
Path planning for systems with dynamics and constraints is an open problem in many domains, including the planning of mobile robots (MRs). Graph-based approaches are a powerful tool for planning problems, but they commonly rely on abstracting the system state by using fixed edge costs.In this paper, we present two approaches for stateful graph search. First, a generalized stateful graph search algorithm is introduced that is able to account for system dynamics and constraints in a continuous state space. Secondly, a greedy specialization of the aforementioned algorithm for planning MRs is proposed which solves the problem more efficiently and in accordance with the VDA 5050 standard for heterogeneous fleets of MRs. The approaches are evaluated in a simulated multi-MR scenario and their effectiveness is demonstrated.