Distributed cooperative multi-robot path planning using differential evolution

This paper provides an alternative approach to the co-operative multi-robot path planning problem using parallel differential evolution algorithms. Both centralized and distributed realizations for multi-robot path planning have been studied, and the performances of the methods have been compared with respect to a few pre-defined yardsticks. The distributed approach to this problem out-performs its centralized version for multi-robot planning. Relative performance of the distributed version of the differential evolution algorithm has been studied with varying numbers of robots and obstacles. The distributed version of the algorithm is also compared with a PSO-based realization, and the results are competitive.

[1]  M. M. Ali,et al.  Differential evolution algorithms using hybrid mutation , 2007, Comput. Optim. Appl..

[2]  H. Hoyer,et al.  Planning of optimal paths for autonomous agents moving in inhomogeneous environments , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[3]  Wolfram Burgard,et al.  Optimizing schedules for prioritized path planning of multi-robot systems , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[4]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

[5]  Zbigniew Michalewicz,et al.  Path Planning in Dynamic Environments , 2005, Innovations in Robot Mobility and Control.

[6]  Stephen M. Rock,et al.  Dynamic Networks for Motion Planning in Multi-Robot Space Systems , 2003 .

[7]  Edward A. Bender,et al.  Mathematical methods in artificial intelligence , 1996 .

[8]  Mark H. Overmars,et al.  Prioritized motion planning for multiple robots , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  John B. Shoven,et al.  I , Edinburgh Medical and Surgical Journal.

[10]  Steven M. LaValle,et al.  Optimal motion planning for multiple robots having independent goals , 1998, IEEE Trans. Robotics Autom..

[11]  Kang G. Shin,et al.  Minimum-time collision-free trajectory planning for dual-robot systems , 1992, IEEE Trans. Robotics Autom..

[12]  Zbigniew Michalewicz,et al.  Adaptive evolutionary planner/navigator for mobile robots , 1997, IEEE Trans. Evol. Comput..

[13]  Larry S. Davis,et al.  Multiresolution path planning for mobile robots , 1986, IEEE J. Robotics Autom..

[14]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .

[15]  Lydia E. Kavraki,et al.  Path planning for minimal energy curves of constant length , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[16]  Vijay R. Kumar,et al.  Optimal Motion Generation for Groups of Robots: A Geometric Approach , 2004 .

[17]  Charles W. Warren,et al.  Multiple robot path coordination using artificial potential fields , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[18]  Rainer Storn,et al.  Differential Evolution – A Simple and Efficient Heuristic for global Optimization over Continuous Spaces , 1997, J. Glob. Optim..

[19]  Jean-Claude Latombe,et al.  Motion planning for multiple mobile robots using dynamic networks , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[20]  Heng-Ming Tai,et al.  Autonomous local path planning for a mobile robot using a genetic algorithm , 2004, Proceedings of the 2004 Congress on Evolutionary Computation (IEEE Cat. No.04TH8753).

[21]  Günther Schmidt,et al.  Conflict-free motion of multiple mobile robots based on decentralized motion planning and negotiation , 1997, Proceedings of International Conference on Robotics and Automation.

[22]  Yoshio Kawauchi,et al.  Structure decision method for self organising robots based on cell structures-CEBOT , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[23]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[24]  Libor Preucil,et al.  Robot Path Planning using Particle Swarm Optimization of Ferguson Splines , 2006, 2006 IEEE Conference on Emerging Technologies and Factory Automation.

[25]  Chee Yap,et al.  Algorithmic motion planning , 1987 .

[26]  Ivan Zelinka,et al.  ON STAGNATION OF THE DIFFERENTIAL EVOLUTION ALGORITHM , 2000 .

[27]  Ignacy Duleba,et al.  Nonholonomic motion planning based on Newton algorithm with energy optimization , 2003, IEEE Trans. Control. Syst. Technol..

[28]  Lakhmi C. Jain,et al.  Path Planning and Obstacle Avoidance for Autonomous Mobile Robots: A Review , 2006, KES.

[29]  Paul Levi,et al.  Cooperative Multi-Robot Path Planning by Heuristic Priority Adjustment , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[30]  P ? ? ? ? ? ? ? % ? ? ? ? , 1991 .

[31]  John McPhee,et al.  COMPLETE AND SCALABLE MULTI-ROBOT PLANNING IN TUNNEL ENVIRONMENTS , 2006 .

[32]  Mark H. Overmars,et al.  Coordinated path planning for multiple robots , 1998, Robotics Auton. Syst..

[33]  Jihong Lee,et al.  A minimum-time trajectory planning method for two robots , 1992, IEEE Trans. Robotics Autom..

[34]  Mauro Birattari,et al.  Swarm Intelligence , 2012, Lecture Notes in Computer Science.

[35]  Malcolm R. K. Ryan.  Graph Decomposition for Efficient Multi-Robot Path Planning , 2007, IJCAI.

[36]  Amit Konar,et al.  Innovations in Robot Mobility and Control , 2005, Studies in Computational Intelligence.

[37]  S. Zucker,et al.  Toward Efficient Trajectory Planning: The Path-Velocity Decomposition , 1986 .

[38]  Zixing Cai,et al.  Cooperative Coevolutionary Adaptive Genetic Algorithm in Path Planning of Cooperative Multi-Mobile Robot Systems , 2002, J. Intell. Robotic Syst..