International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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Volume 82 - Issue 7 |
Published: November 2013 |
Authors: Safaa H. Shwail, Alia Karim, Scott Turner |
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Safaa H. Shwail, Alia Karim, Scott Turner . Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS. International Journal of Computer Applications. 82, 7 (November 2013), 29-34. DOI=10.5120/14130-2251
@article{ 10.5120/14130-2251, author = { Safaa H. Shwail,Alia Karim,Scott Turner }, title = { Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS }, journal = { International Journal of Computer Applications }, year = { 2013 }, volume = { 82 }, number = { 7 }, pages = { 29-34 }, doi = { 10.5120/14130-2251 }, publisher = { Foundation of Computer Science (FCS), NY, USA } }
%0 Journal Article %D 2013 %A Safaa H. Shwail %A Alia Karim %A Scott Turner %T Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS%T %J International Journal of Computer Applications %V 82 %N 7 %P 29-34 %R 10.5120/14130-2251 %I Foundation of Computer Science (FCS), NY, USA
In this paper, a probabilistic roadmap planner algorithm with the multi robot path planning problem have been proposed by using the A* search algorithm in a dynamic environment. The whole process consists of two phases. In the first phase: Preprocessing phase, the work space is converted into the configuration space, constructing a probabilistic roadmap graph in the free space, and finding the optimal path for each robot using a global planner that avoids the collision with the static obstacles. The second phase: Moving phase, moves each robot in a prioritized manner from its starting point to its ending point through a near optimal path with avoiding collision with the moving obstacles and the other robots. A comparison has been done with the depth first algorithm to see the difference. The simulation results shows that choosing A* search algorithm affect positively the speed of the two phases together in comparison to the depth first search algorithm.