Spatio-Temporal A* Algorithms for Offline Multiple Mobile Robot Path Planning

This paper presents an offline collision-free path planning algorithm for multiple mobile robots using a 2D spatial-time map. In this decoupled approach, a centralized planner uses a Spatio-Temporal A* algorithm to find the lowest time cost path for each robot in a sequentially order based on its assigned priority. Improvements in viable path solutions using wait time insertion and adaptive priority reassignment strategies are discussed.

Authors

• Wenjie Wang
• Wooi Boon Goh

Keywords

• Path planning
• multiple robots