An advanced motion planning algorithm for the multi transportation mobile robot

Abstract

In this paper, an advanced motion planning algorithm for the multi transportation mobile robots is presented. The proposed algorithm is developed based on the D* Lite path planning algorithm to avoid dynamic obstacles and a potential collision between the transportation robots. In the multi-robot environment, an operation server manages all planned paths of the robots by using the condition of the robot and obstacle environment. The server updates continuously database of all robots in a real-time. The proposed algorithm checks and predicts a safe point and then decides the lower and higher priority robot. The lower priority robot will be re-planned the path to avoid a potential collision with higher priority robot. The experimental results show that the server can quickly update the path of two robots in the real-time. It can also check and re-plan correctly the path by using D* Lite algorithm to avoid a potential collision of two robots.