Path Planning for a Multi-robot System with Decentralized Control Architecture

Metoui, Fethi; Boussaid, Boumedyen; Abdelkrim, Mohamed Naceur

doi:10.1007/978-981-15-1819-5_12

Cited by 7 publications

(5 citation statements)

References 22 publications

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“…The most common hard issue the previously proposed approaches face is the lo-calminima problem [10]- [14]. The works used the "non-minimum speed algorithm" to solve this problem.…”

Section: Related Workmentioning

confidence: 99%

“…In the same context of multi-robot trajectory planning, algorithms based on Artificial Potential Field (APF) reinforced by other techniques are proposed by several authors, such as Bacterial Potential Field [8] and APF method combined with the Virtual Obstacles approaches [9] to address the issue of multiple robots cooperating in within a single workspace and tried to avoid local minima problem [10]- [14]. However, the problem of these approaches is associated with scalability.…”

Section: Introductionmentioning

confidence: 99%

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NURBs Based Multi-robots Path Planning with Obstacle Avoidance

Belaidi,

Demim

2024

J. Comput. Theor. Appl.

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The primary problem for multi-robot displacement and motion phase solving requires that the robots prevent themselves from colliding with each other as well as stationary obstacles. In certain situations, robot conflict is unavoidable if one robot views its neighbors as immovable obstacles. Hence, this paper proposes a new NURBs (Non-Uniform Rational B-spline) based algorithm for multi-robot path planning in a crowded environment. First, the proposed technique finds each robot's free, smooth, optimal path while avoiding collision with the existing obstacles. Secondly, the prospect of possible collision between the preplanned trajectories will be computed to allow the robots to navigate in the same workspace and coordinate between them. Then, each robot's time to arrive at potential collision sites is computed based on its speed. As a result, the robots involved in the collision must choose whether to use the robot priority technique to prevent the collision. Simulation results under different scenarios and comparisons with previous works are provided to validate the work. The obtained results prove that the proposed approach is accurate (as the robot's instantaneous speed is taken into consideration), fast (as there is no need to broadcast the robots’ positions), the robots’ paths are optimal and smooth (to avoid jerk movements), and the approach ensures that the robots will not be trapped by local minima problem.

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“…The most common hard issue the previously proposed approaches face is the lo-calminima problem [10]- [14]. The works used the "non-minimum speed algorithm" to solve this problem.…”

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

NURBs Based Multi-robots Path Planning with Obstacle Avoidance

Belaidi,

Demim

2024

J. Comput. Theor. Appl.

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show abstract

“…In addition, the work in ref. [95] focused on combining a decentralized architecture with an APF technique to coordinate the motion of the robots. CA method was proposed in refs.…”

Section: Decision-making-based Path Planningmentioning

confidence: 99%

“…[92] DCCP and CBF-CLF. [93], [94], [95], [96], [97], [98] 2016, 2017,2020,2005,2016,2006 Potential field [93,96] Both, [94,95] Sim, and [97,98] Exp [93] Vector field method.…”

Section: Decentralized Decision Path Planningmentioning

confidence: 99%

“…[143] proposed an optimization path planning algorithm called the online optimization perceptual strategy. On the other hand, different decentralized decision path planning techniques have been applied to UGV systems, including optimization and machine learning [90][91][92], potential field [93][94][95][96][97][98], cellular automaton (CA) method [99,100], hybrid algorithms [101,102], sampling-based [103], and other techniques [104][105][106].…”

Section: 2014mentioning

confidence: 99%

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A comprehensive review of the latest path planning developments for multi-robot formation systems

et al. 2023

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There has been a continuous interest in multi-robot formation systems in the last few years due to several significant advantages such as robustness, scalability, and efficiency. However, multi-robot formation systems suffer from well-known problems such as energy consumption, processing speed, and security. Therefore, developers are continuously researching for optimal solutions that can gather the benefits of multi-robot formation systems while overcoming the possible challenges. A backbone process required by any multi-robot system is path planning. Thus, path planning for multi-robot systems is a recent top research topic. However, the literature lacks a recent comprehensive review of path planning works designed for multi-robot systems. The aim of this review paper is to provide a comprehensive assessment and an insightful look into various path planning techniques developed in multi-robot formation systems, in addition to highlighting the basic problems involved in this field. This will allow the reader to discover the research gaps that must be solved for a better path planning experience for multi-robot formation systems. Finally, an illustrative comparative example is presented at the end of the paper to show the advantages and disadvantages of some popular path planning techniques.

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Modeling Pathfinding for Swarm Robotics

Mai

Mostaghim

2020

Lecture Notes in Computer Science

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Path Planning for a Multi-robot System with Decentralized Control Architecture

Cited by 7 publications

References 22 publications

NURBs Based Multi-robots Path Planning with Obstacle Avoidance

NURBs Based Multi-robots Path Planning with Obstacle Avoidance

A comprehensive review of the latest path planning developments for multi-robot formation systems

Modeling Pathfinding for Swarm Robotics

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