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This paper proposes an improved multi-robot path planning algorithm for finding the path via interacting with multiple robots. The task is to find the path with a minimum amount of computation time by using fast re-planning algorithm. To solve multi-robot path planning problem which cannot be executed in real-time, we regard other robots, exclusive the origin robot, as obstacles. Therefore, the robot...
Although traditional ant colony system (ACS) has the ability of fast convergence, it tends to find local optima. To solve this problem, this paper proposes an improved ant colony system algorithm for path planning of mobile robots by considering two main aspects, including continuous tuning of a setting parameter and the establishment of new mechanisms for pheromone updating. As a result, the ability...
This paper proposes an optimal path planning algorithm incorporating a global and local search mechanism for mobile robots. The global path planning is based on Voronoi graph to establish a backbone path for the map with significantly reduced nodes for the original grid map. With the use of the backbone path, the D* algorithm is adopted to determine a shortest path between the starting and end points...
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