Intelligent Route Planning for Multiple Robots Using Particle Swarm Optimization

Abstract

In this paper, we propose a new method of route planning for multiple robots in an unknown space with randomly placed obstacles. First, we use the basic principles of multi agent systems and particle swarm optimization algorithm. At the core, we implement our proposed method of circularly drifting the robot around the corners of the obstacle at a desired angle which gives us the freedom in designing the robot's angular mobility. Also, communication between robots about the obstacles and the traversed space helps in obtaining their next positions. Then the optimal route planned is shown till the robots safely reach the target without any collisions. Simulations are performed by avoiding obstacles using circular drift method.