A Multi-robot Collaborative Path Planning Algorithm with Chain Working Mode

Authors

Zhigang He, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Dayan Li, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Niya Wang, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Jianlin Mao, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Ning Wang, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China

Abstract

Abstract: In order to solve the problem that the traditional MAPF algorithms can lead to a large number of repeated paths and thus non-essential energy loss in application scenarios where multiple robots have a common goal point, a multi-robot chain work mode with a tractor is proposed, which divides the robots with common target points into subgroups for multi robot collaborative path planning, and a collaborative dynamic priority SIPP with tractor (Co-DPtSIPP) algorithm is given. The polygonal Fermat point principle and other methods are used to obtain the serial connection areas of each collaborative group robot; considering the sequence of serial connection between the collection robot and the traction robot, segmented path planning is performed; after the collection robots in each group are suspended and towed, they are driven by the towing robots to move forward in a chain like manner; the later path nodes of the traction robot are adjusted in time steps and filled into the paths of each collection robot to avoid collisions with other robots during the movement of multiple collection robots. Experimental results show that the proposed Co-DPtSIPP algorithm can reduce path length by 10%~13% compared, which can effectively reduce robot energy consumption.

Recommended Citation

He, Zhigang; Li, Dayan; Wang, Niya; Mao, Jianlin; and Wang, Ning (2025) "A Multi-robot Collaborative Path Planning Algorithm with Chain Working Mode," Journal of System Simulation: Vol. 37: Iss. 4, Article 11.
DOI: 10.16182/j.issn1004731x.joss.23-1455
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss4/11

First Page

953

Last Page

967

CLC

TP242

Recommended Citation

He Zhigang, Li Dayan, Wang Niya, et al. A Multi-robot Collaborative Path Planning Algorithm with Chain Working Mode[J]. Journal of System Simulation, 2025, 37(4): 953-967.

Corresponding Author

Li Dayan

DOI

10.16182/j.issn1004731x.joss.23-1455