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최적 경로 및 충돌 회피를 위한 다개체 모바일 로봇의 동적 경로 계획 알고리즘
최병준(Byung June Choi),진성문(Sung Miin Jin),박재훈(Jaehoon Park),김범수(Bum-Soo Kim),문형필(Hyungpil Moon),구자춘(Ja Choon Koo),정완균(Wankyun Chung),최혁렬(Hyouk Ryeol Choi) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
Motion planning of multiple mobile robots is one of the challenging problems in robotics. In this paper, we present a dynamic path planning algorithm for multiple mobile robots using D* Lite algorithm. A native approach of path planning for multiple robots is to assign of priorities to individual robot and to move the robots in a sequential way based on the priorities. While these methods are very convenient, it may cause congestions when many robots need to go through narrow passage. Moreover, deciding priorities would be problematic when the number of robots is very large. The key idea of our approach is to generate detour path in an optimal way. In the first path planning step, each robot computes its optimal path using D<SUP>*</SUP> Lite, without any consideration of the paths of the other robots. When each robot moves to follow its own trajectory, some robots may collide with other. In this case, the robots that are involved in collision generate detour path using D<SUP>*</SUP> Lite algorithm which is known for finding detour path optimally. Then, by considering the total distance of all the robots, it is determined which robot takes detour and which robot takes the original path. Our approach can find a solution that minimizes the overall path length. The proposed dynamic path planning algorithm is validated by simulation experiments.