A Study on the Obstacle Avoidance and Path Planning Algorithm of Multiple Mobile Robot

다중이동로봇의 장애물 회피 및 경로계획 알고리즘에 관한 연구

In this paper, we design an optimal path for multiple mobile robots. For this purpose, we propose a new method of path planning for multiple mobile robots in dynamic environment. First, every mobile robot searches a global path using a distance transform algorithm. Then we put subgoals at crooked path points and optimize them. And finally to obtain an optimal on-line local path, ever)r mobile robot searches a new path with static and dynamic obstacle avoidance.