Spatio-temporal A* algorithms for offline multiple mobile robot path planning
نویسندگان
چکیده
This paper presents an offline collision-free path planning algorithm for multiple mobile robots using a 2D spatial-time map. In this decoupled approach, a centralized planner uses a SpatioTemporal A* algorithm to find the lowest time cost path for each robot in a sequentially order based on its assigned priority. Improvements in viable path solutions using wait time insertion and adaptive priority reassignment strategies are discussed.
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تاریخ انتشار 2011