Research on Multiple Mobile Robots Scheduling Based on Penalized Hybrid A* Algorithm and S-T Graph

With the wide application of mobile robots, multiple mobile robots scheduling problem has attracted much attention. When parked in a confined space, due to the fixed and single exit, mobile robots are easy to cause conflicts in the outbound process, resulting in low efficiency. In order to improve the overall performance of mobile robots, a scheduling scheme for multiple mobile robots is proposed in this paper. In view of mobile robots with complicated kinematic constraints, penalized hybrid A * algorithm is used to obtain a smooth path. The improved A * algorithm based on S- T graph is adopted to determine velocity of mobile robots assuring collision-free with moving objects. The experimental simulation demonstrates that the scheme can make multiple mobile robots of good performance leave the confined space as soon as possible along the smooth path.