Abstract
Coordinating the motion of multi-robot is one of the fundamental problems in robotics, and how to find collision-free paths efficiently is an open issue. The high time complexity in existing methods severely hinders the applications of multi-robot in practice, especially in an overloaded warehouse scenario. To overcome this difficulty, we propose a collision-free search algorithm based on Jump point search (JPS) to improve the searching efficiency, where a reverse search path is employed to estimate the distance from the current position of one robot to the target position during traversing the root node. The experimental results show that the proposed method can achieve a higher efficiency compared with the traditional methods.
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Acknowledgement
This work is supported by the Natural Science Foundation of China (No. 61502118), the Natural Science Foundation of Heilongjiang Province in China (No. F2016009), the Fundamental Research Fund for the Central Universities in China (No. HEUCF180602 and HEUCFM180604) and the National Science and Technology Major Project (No. 2016ZX03001023-005).
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Zhuang, X. et al. (2019). A Collision-Free Path Planning Approach for Multiple Robots Under Warehouse Scenarios. In: Shen, S., Qian, K., Yu, S., Wang, W. (eds) Wireless Sensor Networks. CWSN 2018. Communications in Computer and Information Science, vol 984. Springer, Singapore. https://doi.org/10.1007/978-981-13-6834-9_6
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DOI: https://doi.org/10.1007/978-981-13-6834-9_6
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