Motion Planning for Multi-robot Cooperation Based on Cooperative Co-evolutionary Roadmap Method

Motion planning for multi-robot cooperation,especially for those robots with many degrees of freedom,is very difficult.Getting some ideas from probabilistic roadmap method,we develop a new planner based on cooperative co-evolutionary roadmap method(CCRM).With the help of the capabilities of heuristic search and constraint handling,which the cooperative co-evolutionary algorithms have,the new CCRM algorithms will deal with the problem of high-dimension combined configuration space and timing and spatial optimization that come with the multi-robot cooperation.The experiments show that the algorithm is efficient for multi-robot cooperation.