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Integer-Programming-Based Narrow-Passage Multi-Robot Path Planning with Effective Heuristics

2021-07-26 13:53:23
Jiaxi Huo, Ronghao Zheng, Meiqin Liu, Senlin Zhang
arXiv_RO
     
Abstract

We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on Integer programming (IP) method. We focus on reducing the cost caused by a set of robots moving from their initial configuration to goal configuration in the warehouse-like environment. The novelty of this work includes: (1) proposing a topological map extraction based on the property of warehouse-like environment to reduce the scale of constructed IP model; (2) proposing one-way passage constraint to prevent the robots from having unsolvable collisions in the passage. (3) developing a heuristic architecture that IP model can always have feasible initial solution to ensure its solvability. Numerous simulations demonstrate the efficiency and performance of the proposed algorithm.

Abstract (translated)

URL

https://arxiv.org/abs/2107.12219

PDF

https://arxiv.org/pdf/2107.12219.pdf

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