Space D*

Luan Silveira, Renan Q. Maffei, Silvia S. C. Botelho, Paulo L. Drews, Alessandro de L. Bicho, Nelson L. Duarte Filho
2012 Journal of the Brazilian Computer Society  
This paper describes a new method of pathplanning for multiple robots in unknown environments. The method, called Space D*, is based on two algorithms: the D*, which is an incremental graph search algorithm, and the Space Colonization algorithm, previously used to simulate crowd behaviors. The path-planning is achieved through the exchange of information between the robots. So decentralized, each robot performs its path-planning, which provides an obstacle-free path with the least number of
more » ... ts around. The major contribution of the proposed method is that it generates paths in spacious environments facilitating the control of robots and thus presenting itself in a viable way for using in areas populated with multiple robots. The results obtained validate the approach and show the advantages in comparison with using only the D* method.
doi:10.1007/s13173-012-0071-9 fatcat:jef2tt5snvh3fonxdipqf6cdpm