Multi-robot motion planning amidst dynamic obstacle

Abstract

This paper provides a modern approach to multi-robot motion planning in a given world map amidst both static and dynamic obstacles. The distributed method for multi-robot motion planning has been realized with particle swarm optimization algorithm. The experimental results show that the variation in the path deviation from optimal trajectory of the mobile robots increases with the increase in the number of dynamic obstacles. But here we have presented an approach which minimizes the probability of collision of the robots with the obstacles.