Abstract
Traditional multi-robot path planning methods have limitations, such as difficulties in handling complex environments and long planning paths. To address these problems, a path planning algorithm based on conflict search and safety corridor as constraints is proposed for cooperative control of multiple robots, and MPC is used to solve the nonlinear optimization problem. The method overcomes the limitations of traditional methods and can complete the path planning task faster and achieve good results in complex environments. Specifically, a safe driving path is first planned between the start and end points of the environment map, and then a safe corridor is constructed on the safe path and the path planning parameters are optimized based on it. By viewing the robot’s status and motion trajectory in Rviz, it is verified that the system can accomplish tasks such as multi-robot path planning and cooperative obstacle avoidance. Compared with the conflict search approach, the average reduction of CBS path length after MPC optimization is 2.472% and the average reduction of ECBS path length is 2.581% after the introduction of the safety corridor constraint. The experimental results show that the proposed method can effectively reduce the total length of multi-robot path planning.
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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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Lin, H. (2024). Design of Multi-robot Path Planning Based on Safe Corridors. In: Dong, J., Zhang, L., Cheng, D. (eds) Proceedings of the 2nd International Conference on Internet of Things, Communication and Intelligent Technology. IoTCIT 2023. Lecture Notes in Electrical Engineering, vol 1197. Springer, Singapore. https://doi.org/10.1007/978-981-97-2757-5_43
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DOI: https://doi.org/10.1007/978-981-97-2757-5_43
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