A NEW APPROACH BASED ON SCHEDULING TECHNIQUE TO THE MULTI-ROBOT PATH PLANNING AND COORDINATION PROBLEM

The paper presents a new approach, which is called dynamic priority scheduling based on total potential reduction, to solving the multi-robot path planning and coordination problem.In this algorithm, the concept of total potential is introduced into this paper. Only if the motion of one robot will reduce the total potential, can the robot change its position through this feasible motion.Therefore, when robots are moving from their start points to goal points, the total potential is reduced gradually. The navigation tasks of multiple robots are accomplished in this way.