Abstract:This study proposes a novel multi-robot navigation algorithm with priority order called, in short, PONA2.0. This algorithm is based on the generalized Voronoi diagram and contains an adjustable multipath switching mechanism and a collision prevention strategy, such that the arrival order of robots is in line with the priority order as much as possible, and the average trajectories length is as short as possible. The given average trajectories length of all robots (ATLA) and arrival order (AO) are used to be th… Show more
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