Mustafa Mohammed Alhassow1,*, Oguz Ata2, Dogu Cagdas Atilla1
CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 749-771, 2024, DOI:10.32604/cmc.2024.055592
- 15 October 2024
Abstract This study investigates robot path planning for multiple agents, focusing on the critical requirement that agents can pursue concurrent pathways without collisions. Each agent is assigned a task within the environment to reach a designated destination. When the map or goal changes unexpectedly, particularly in dynamic and unknown environments, it can lead to potential failures or performance degradation in various ways. Additionally, priority inheritance plays a significant role in path planning and can impact performance. This study proposes a Conflict-Based Search (CBS) approach, introducing a unique hierarchical search mechanism for planning paths for multiple robots.… More >
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