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

by Safaa H. Shwail, Alia Karim, Scott Turner
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 82 - Number 7
Year of Publication: 2013
Authors: Safaa H. Shwail, Alia Karim, Scott Turner
10.5120/14130-2251

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

@article{ 10.5120/14130-2251,
author = { Safaa H. Shwail, Alia Karim, Scott Turner },
title = { Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS },
journal = { International Journal of Computer Applications },
issue_date = { November 2013 },
volume = { 82 },
number = { 7 },
month = { November },
year = { 2013 },
issn = { 0975-8887 },
pages = { 29-34 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume82/number7/14130-2251/ },
doi = { 10.5120/14130-2251 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T21:57:10.730879+05:30
%A Safaa H. Shwail
%A Alia Karim
%A Scott Turner
%T Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS
%J International Journal of Computer Applications
%@ 0975-8887
%V 82
%N 7
%P 29-34
%D 2013
%I Foundation of Computer Science (FCS), NY, USA
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 the static 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.

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Index Terms

Computer Science
Information Sciences

Keywords

Multi-robot path planning decoupled planning A* Depth First Search (DFS).

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