Multi-objective Minimal Time Optimal Control Based Path Planning of Mobile Robots

Abstract

This paper proposes a novel approach to solve the minimal time multi-robot path planning problem. Firstly, the multi-robot path planning problem is described by a multi-objective minimal time optimal control model. In this process, we mainly study the mathematical description of the trajectory paths without hitting with obstacles and colleagues. Secondly, in order to obtain the numerical solution of the optimal control problem, the model is transformed into multiple single-objective mixed integer programming problems (MSOMIP) by using discretization and lexicographic method. Finally, an improved particle swarm optimization-genetic algorithm (PSO-GA) algorithm is proposed to solve the MSOMIP. The optimal path planning scheme and the corresponding analysis are presented at last.