Dynamic Programming Algorithm Based Path Planning of the Multiple Robot System

Abstract

The article researched the path planning of the multiple mobile robots moving to the target position in the unknown environment, and used the dynamic programming algorithm to solve the minimum displacement techniques on the supervised computer. The mobile robot has the shape of cylinder and its diameter, height and weight is 10cm, 15cm and 1.5kg. The controller of the mobile robot is MCS-51 microchip, and programs Keil-C language to control the mobile robot. The mobile robot contains a controller module (including two DC motor drivers), an obstacle detection module, a voice module, a wireless RF module, an encoder module, and a compass module. The mobile robot can modify the error of the orientation using the compass module, and uses encoder module to calculate and compensate the moving distance. We design the user interface of the multiple mobile robot system, and search the minimum distance using the proposed method on the experimental platform. In the experimental results, mobile robots can receive the command from the supervised computer via wireless RF interface, and move to the unknown target position, and find the optimal path on the many times test according to the proposed algorithm.

Motion planning of autonomous mobile robots by iterative dynamic programming

“…(4) and (6), and the dynamic constraints in Eqs. (11) and (12), can be described by the form of the constraints forṡ ands as:…”

“…(4) and (5) and the dynamic constraints in Eqs. (11) and (12) should be satisfied while the robot tracks the path. …”

“…Haddad et al [9] generated the initial path using a B-spline function with random via-points, then improved the path by considering dynamic constraints using a simulated annealing approach. Dynamic programming has been applied to path planning problem of mobile robots [10][11][12], but they focused on only the path planning not the trajectory planning.…”