Path Planning for Multiple Mobile Robots Using A* Algorithm

Z. Batik Garipa, D. Karayelb, S.S. Ozkanb and G. Atalic aSakarya University, Computer Programming, Sakarya, Turkey bSakarya University, Department of Mechatronics Engineering, Sakarya, Turkey cSakarya University, Electronic Automation, Sakarya, Turkey

Full Text PDF

One of the main problems in path planning for multiple mobile robots is to find the optimal path between two points so that robots can follow the shortest path and consume the least energy. Also, motion planning is important to avoid collisions if multiple mobile robots are running together within environments with obstacles. In this study, motion planning for multiple robots has been proposed. It is desired that robots could move in coordination with each other from the starting point to the destination point on a plane. The coordinates of the objects and mobile robots have been acquired using image processing with a single ceiling camera. The path planning for the shortest distance has been performed using A* algorithm in dynamic frame between robot-object and object-target point, respectively. A graphical user interface has been developed based on MATLAB GUI. It is hoped that the developed system will have a wide area of applications in industry and will make important contributions for the improvement of manufacturing, assembly, transportation and storage technologies.

DOI: 10.12693/APhysPolA.132.685 PACS numbers: 42.30.Tz, 45.40.Ln, 87.85.St, 87.55.de, 87.55.K-, 87.55.kd