Multi Robot Path Planning Using Priority Based Algorithm

Path Planning for Multiple Robots using D*

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Table of Contents

1. About The Project
2. Installation
3. Usage and Results
4. Roadmap
5. Contributing
6. License
7. Contact
8. Acknowledgments

About The Project

Code for the paper Multi Robot Path Planning Using Priority Based Algorithm.

In this paper we describe an algorithm for planning for multiple robots with multiple goal points. We use the D* Algorithm as a backbone to create a priority based planner, further we define four scenes to evaluate the performance of the algorithm and compare the time taken for each scene. We also propose an architecture for directing multiple robots in a centralized manner using Robot Operating System (ROS). The evaluation of both the algorithm and control architecture is done using a simulation in the Gazebo environment.

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Installation

1. Clone the repo

   git clone https://github.com/codeck313/priorityBasedMultiRobot.git

2. Install Requirements

   pip3 install -r requirements.txt

3. Update the input.yaml with the required parameters four example inputs are provided

4. Run the planning script

    python3 hillClimber.py sample_maps/input.yaml

5. Run the visualization script

    python3 visualize.py sample_maps/input.yaml output.yaml

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Usage and Results

1. Narrow Corridor Map

2. City Block Map

3. Cross Road Map

4. General Case Map

5. Square Park Map

For more information, please refer to our paper and presentation video

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Roadmap

• Path Planning for Multiple Robots
• C++ Implementation
• Converting Discrete Paths to Trajectories
• Optimization
• SLAM Integration

See the open issues for a full list of proposed features (and known issues).

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Contributing

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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License

Distributed under the MIT License. See LICENSE.txt for more information.

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Contact

Naman - @NamanMenezes17

Saksham @The Lowest Type

Project Link: https://github.com/codeck313/priorityBasedMultiRobot

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Acknowledgments

• Code for visualization was taken from multi_agent_path_planning
• AIRL Laboratory IISc

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