In this research, a coevolutionary collision free multi-robot path planning that makes use of A* is proposed. To find collision-free paths for all robots, we generate a route for each of robot using A* path finding but introducing restrictions for each collision found. Afterward, a co-evolutionary optimization process is implemented for introducing changes in the initial paths to find a combination of routes that is collision-free. The approach has been tested in mazes with increasing the number of robots, showing a robust performance although at high time expenses. Nevertheless, several enhancements are proposed to tackle this issue.
|Number of pages||16|
|Journal||Cybernetics and Systems|
|Publication status||Published - 2023|
- A* algorithm
- co-evolutionary algorithms
- evolutionary algorithms
- multi-robot path planning