An Evolutionary Navigation Algorithm for Multi-Robot With Priority Order
This study proposes a novel multi-robot navigation algorithm with priority order called, in short, PONA2.0. This algorithm is based on the generalized Voronoi diagram and contains an adjustable multipath switching mechanism and a collision prevention strategy, such that the arrival order of robots i...
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10121423/ |
| _version_ | 1797828227764322304 |
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| author | Sheng-Kai Huang Wen-June Wang |
| author_facet | Sheng-Kai Huang Wen-June Wang |
| author_sort | Sheng-Kai Huang |
| collection | DOAJ |
| description | This study proposes a novel multi-robot navigation algorithm with priority order called, in short, PONA2.0. This algorithm is based on the generalized Voronoi diagram and contains an adjustable multipath switching mechanism and a collision prevention strategy, such that the arrival order of robots is in line with the priority order as much as possible, and the average trajectories length is as short as possible. The given average trajectories length of all robots (<inline-formula> <tex-math notation="LaTeX">$ATLA$ </tex-math></inline-formula>) and arrival order (<inline-formula> <tex-math notation="LaTeX">$AO$ </tex-math></inline-formula>) are used to be the two performance indices for the comparison between the proposed algorithm and recent existing algorithms NSPP (Huang et al., 2021), PONA (Huang et al., 2022), ROA, and SDA (Ali et al., 2016). The comparison shows that the PONA2.0 can reduce the average <inline-formula> <tex-math notation="LaTeX">$AO$ </tex-math></inline-formula> by more than 56% compared with NSPP and PONA and reduce the average <inline-formula> <tex-math notation="LaTeX">$ATLA$ </tex-math></inline-formula> between 5% and 17% compared with ROA and SDA. |
| first_indexed | 2024-04-09T13:01:16Z |
| format | Article |
| id | doaj.art-0454f4c4ec3a47b889254b4e82292438 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-09T13:01:16Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-0454f4c4ec3a47b889254b4e822924382023-05-12T23:00:28ZengIEEEIEEE Access2169-35362023-01-0111452224523210.1109/ACCESS.2023.327420410121423An Evolutionary Navigation Algorithm for Multi-Robot With Priority OrderSheng-Kai Huang0https://orcid.org/0000-0002-1620-6375Wen-June Wang1https://orcid.org/0000-0002-7714-8682Department of Electrical Engineering, National Central University, Taoyuan, TaiwanDepartment of Electrical Engineering, National Central University, Taoyuan, TaiwanThis study proposes a novel multi-robot navigation algorithm with priority order called, in short, PONA2.0. This algorithm is based on the generalized Voronoi diagram and contains an adjustable multipath switching mechanism and a collision prevention strategy, such that the arrival order of robots is in line with the priority order as much as possible, and the average trajectories length is as short as possible. The given average trajectories length of all robots (<inline-formula> <tex-math notation="LaTeX">$ATLA$ </tex-math></inline-formula>) and arrival order (<inline-formula> <tex-math notation="LaTeX">$AO$ </tex-math></inline-formula>) are used to be the two performance indices for the comparison between the proposed algorithm and recent existing algorithms NSPP (Huang et al., 2021), PONA (Huang et al., 2022), ROA, and SDA (Ali et al., 2016). The comparison shows that the PONA2.0 can reduce the average <inline-formula> <tex-math notation="LaTeX">$AO$ </tex-math></inline-formula> by more than 56% compared with NSPP and PONA and reduce the average <inline-formula> <tex-math notation="LaTeX">$ATLA$ </tex-math></inline-formula> between 5% and 17% compared with ROA and SDA.https://ieeexplore.ieee.org/document/10121423/Voronoi diagramYen's algorithmmulti-robot path planningcollision-freepath-priority order |
| spellingShingle | Sheng-Kai Huang Wen-June Wang An Evolutionary Navigation Algorithm for Multi-Robot With Priority Order IEEE Access Voronoi diagram Yen's algorithm multi-robot path planning collision-free path-priority order |
| title | An Evolutionary Navigation Algorithm for Multi-Robot With Priority Order |
| title_full | An Evolutionary Navigation Algorithm for Multi-Robot With Priority Order |
| title_fullStr | An Evolutionary Navigation Algorithm for Multi-Robot With Priority Order |
| title_full_unstemmed | An Evolutionary Navigation Algorithm for Multi-Robot With Priority Order |
| title_short | An Evolutionary Navigation Algorithm for Multi-Robot With Priority Order |
| title_sort | evolutionary navigation algorithm for multi robot with priority order |
| topic | Voronoi diagram Yen's algorithm multi-robot path planning collision-free path-priority order |
| url | https://ieeexplore.ieee.org/document/10121423/ |
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