Robots link Northampton, Babylon and Baghdad

A paper has recently being published on a collaboration between University of Northampton; University of Babylon; and University of Technology, Baghdad on path-finding using multiple robots in a dynamic environment.





Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS

Safaa H Shwail, Alia Karim and Scott Turner.
International Journal of Computer Applications


Abstract


In this paper, a probabilistic roadmap planner algorithm with the multi robot path planning problem have been proposed by using the A* search algorithm in a dynamic environment. The whole process consists of two phases. In the first phase: Preprocessing phase, the work space is converted into the configuration space, constructing a probabilistic roadmap graph in the free space, and finding the optimal path for each robot using a global planner that avoids the collision with thestatic obstacles. The second phase: Moving phase, moves each robot in a prioritized manner from its starting point to its ending point through a near optimal path with avoiding collision with the moving obstacles and the other robots. A comparison has been done with the depth first algorithm to see the difference. The simulation results shows that choosing A* search algorithm affect positively the speed of the two phases together in comparison to the depth first search algorithm. 




Citation
Safaa H Shwail, Alia Karim and Scott Turner. Article: Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS. International Journal of Computer Applications 82(7):29-34, November 2013. Published by Foundation of Computer Science, New York, USA
DOI: 
10.5120/14130-2251