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Obstacle Avoidance Capability for Multi-Target Path Planning in Different Styles of Search

Computers, Materials & Continua 2024年第10期81卷 749-771页

作者： Mustafa Mohammed Alhassow Oguz Ata Dogu Cagdas Atilla Department of Electrical and Computer Engineering Altinbas UniversityIstanbul34217Turkey Department of Software Engineering Altinbas UniversityIstanbul34217Turkey

This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without *** agent is assigned a task within the environment to reach a designated *** the map or goal changes unexpectedly,particularly in dynamic and unknown environments,it can lead to potential failures or performance degradation in various ***,priority inheritance plays a significant role in path planning and can impact *** study proposes a conflictBased Search(CBS)approach,introducing a unique hierarchical search mechanism for planning paths for multiple *** study aims to enhance flexibility in adapting to different *** scenarios were tested,and the accuracy of the proposed algorithm was *** the first scenario,path planning was applied in unknown environments,both stationary and mobile,yielding excellent results in terms of time to arrival and path length,with a time of 2.3 *** the second scenario,the algorithm was applied to complex environments containing sharp corners and unknown obstacles,resulting in a time of 2.6 s,with the algorithm also performing well in terms of path *** the final scenario,the multi-objective algorithm was tested in a warehouse environment containing fixed,mobile,and multi-targeted obstacles,achieving a result of up to 100.4 *** on the results and comparisons with previous work,the proposed method was found to be highly effective,efficient,and suitable for various environments.

关键词： conflict algorithm dynamic environment mobile robot omnidirectional mobile robot unknown environment warehouse

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