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Volume 12
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Article

Path Planning for the Rapid Reconfiguration of a Multi-Robot Formation Using an Integrated Algorithm

by
Dewei Zhao
,
Sheng Zhang
,
Faming Shao
,
Li Yang
,
Qiang Liu
*,
Heng Zhang
and
Zihan Zhang
College of Field Engineering, Army Engineering University, PLA, Nanjing 210007, China
*
Author to whom correspondence should be addressed.
Electronics 2023, 12(16), 3483; https://doi.org/10.3390/electronics12163483
Submission received: 10 July 2023 / Revised: 15 August 2023 / Accepted: 15 August 2023 / Published: 17 August 2023
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Abstract

Path planning is crucial in the scheduling and motion planning of multiple robots. However, solving multi-robot path-planning problems efficiently and quickly is challenging due to their high complexity and long computational time, especially when dealing with many robots. This paper presents a unified mathematical model and algorithm for the path planning of multiple robots moving from one formation to another in an area with obstacles. The problem was initially simplified by constructing a cost matrix, and then the route planning was achieved by integrating an elite enhanced multi-population genetic algorithm and an ant colony algorithm. The performance of the proposed planning method was verified through numerical simulations in various scenarios. The findings indicate that this method exhibits high computational efficiency and yields a minimal overall path distance when addressing the path-planning problem of a multi-robot formation reconstruction. As a result, it holds promising potential for the path-planning problem of a multi-robot formation reconstruction.
Keywords: multi-robot path planning; formation reconstruction; multi-population genetic algorithm; ant colony algorithm multi-robot path planning; formation reconstruction; multi-population genetic algorithm; ant colony algorithm

Share and Cite

MDPI and ACS Style

Zhao, D.; Zhang, S.; Shao, F.; Yang, L.; Liu, Q.; Zhang, H.; Zhang, Z. Path Planning for the Rapid Reconfiguration of a Multi-Robot Formation Using an Integrated Algorithm. Electronics 2023, 12, 3483. https://doi.org/10.3390/electronics12163483

AMA Style

Zhao D, Zhang S, Shao F, Yang L, Liu Q, Zhang H, Zhang Z. Path Planning for the Rapid Reconfiguration of a Multi-Robot Formation Using an Integrated Algorithm. Electronics. 2023; 12(16):3483. https://doi.org/10.3390/electronics12163483

Chicago/Turabian Style

Zhao, Dewei, Sheng Zhang, Faming Shao, Li Yang, Qiang Liu, Heng Zhang, and Zihan Zhang. 2023. "Path Planning for the Rapid Reconfiguration of a Multi-Robot Formation Using an Integrated Algorithm" Electronics 12, no. 16: 3483. https://doi.org/10.3390/electronics12163483

APA Style

Zhao, D., Zhang, S., Shao, F., Yang, L., Liu, Q., Zhang, H., & Zhang, Z. (2023). Path Planning for the Rapid Reconfiguration of a Multi-Robot Formation Using an Integrated Algorithm. Electronics, 12(16), 3483. https://doi.org/10.3390/electronics12163483

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