A prioritized path planning algorithm for MMRS

For multiple mobile robot system (MMRS), a practical path planning method needs to handle both the collision-free constraint and the kinematic constraint of the robot, the latter of which is neglected by most of the path planning methods. In this paper, we present a prioritized path planning algorithm for MMRS under dynamic environment with the least path length constraint. In this algorithm each robot uses an analytical method to plan an obstacle-avoidance path. In order to realize cooperative path planning, a priority scheme is introduced. Different from the other priority methods, the algorithm proposed in this paper is not time-consuming, so it is suitable for dynamic environments. Simulation results are presented to verify the effectiveness of the proposed algorithm.