Visibility Graph (VG) – based path planning method for multi-robot systems
Title: Visibility Graph (VG) – based path planning method for multi-robot systems
Authors: Fatma Alwafi (Sheffield Hallam University); Xu Xu (Sheffield Hallam University); Lyuba Alboul (Sheffield Hallam University);
Year: 2022
Citation: Alwafi, F., Xu, X., Alboul, L., (2022). Visibility Graph (VG) – based path planning method for multi-robot systems. UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings, 60-61. doi: 10.31256/Ye1Dq6J
Abstract:
Abstract- This paper addresses path planning algorithms for a multi-robot system based on the Visibility Graph (VG) method.VG has been selected because it produces solutions with optimal path lengths from a start position to a target. However, the main disadvantages of VG are: (1) it plans paths which may go through the vertices of obstacles; (2) the computation time increases with the increased number of obstacles. Therefore, two new algorithms have been developed: Central Algorithm (CA) and its associate, Optimisation Central Algorithm (OCA). Simulation results show that the proposed algorithms can find optimal paths in 2D environments.