Multi Mobile Robots Path Planning by Improved RRT* Algorithm with Right-of-Way Rule
Aphilak Lonklang, Haichen Xu, Pedro Alejandro Cordero Jara, János Botzheim · 2024
Multi-robot path planning is crucial for various applications, from automated warehouses to search and rescue missions, where efficient and safe navigation of multiple robots is essential.This paper presents the multi-robot path planning algorithm named Improved RRT* with Reduced Random Map Size (IRRT*-RRMS) combined with the Right-of-Way Rule (RoW).The RoW Rule is integrated to lead the local path planning of each robot, ensuring collision-free navigation in multi-robot systems by using the proposed virtual obstacle.The proposed Virtual Obstacle Shape can force the path planning algorithm to avoid unknown obstacles by searching for the optimal solution path on the right-hand side first.Experimental results demonstrate the algorithm's performance in terms of path optimality, computation time, and adaptability in dynamic environments.The proposed algorithm was implemented in real mobile robots.