Enol García González, J. Villar, Qing Tan, J. Sedano, Camelia Chira
{"title":"An efficient multi-robot path planning solution using A* and coevolutionary algorithms","authors":"Enol García González, J. Villar, Qing Tan, J. Sedano, Camelia Chira","doi":"10.3233/ica-220695","DOIUrl":null,"url":null,"abstract":"Multi-robot path planning has evolved from research to real applications in warehouses and other domains; the knowledge on this topic is reflected in the large amount of related research published in recent years on international journals. The main focus of existing research relates to the generation of efficient routes, relying the collision detection to the local sensory system and creating a solution based on local search methods. This approach implies the robots having a good sensory system and also the computation capabilities to take decisions on the fly. In some controlled environments, such as virtual labs or industrial plants, these restrictions overtake the actual needs as simpler robots are sufficient. Therefore, the multi-robot path planning must solve the collisions beforehand. This study focuses on the generation of efficient collision-free multi-robot path planning solutions for such controlled environments, extending our previous research. The proposal combines the optimization capabilities of the A* algorithm with the search capabilities of co-evolutionary algorithms. The outcome is a set of routes, either from A* or from the co-evolutionary process, that are collision-free; this set is generated in real-time and makes its implementation on edge-computing devices feasible. Although further research is needed to reduce the computational time, the computational experiments performed in this study confirm a good performance of the proposed approach in solving complex cases where well-known alternatives, such as M* or WHCA, fail in finding suitable solutions.","PeriodicalId":50358,"journal":{"name":"Integrated Computer-Aided Engineering","volume":null,"pages":null},"PeriodicalIF":5.8000,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Integrated Computer-Aided Engineering","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.3233/ica-220695","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
引用次数: 2
Abstract
Multi-robot path planning has evolved from research to real applications in warehouses and other domains; the knowledge on this topic is reflected in the large amount of related research published in recent years on international journals. The main focus of existing research relates to the generation of efficient routes, relying the collision detection to the local sensory system and creating a solution based on local search methods. This approach implies the robots having a good sensory system and also the computation capabilities to take decisions on the fly. In some controlled environments, such as virtual labs or industrial plants, these restrictions overtake the actual needs as simpler robots are sufficient. Therefore, the multi-robot path planning must solve the collisions beforehand. This study focuses on the generation of efficient collision-free multi-robot path planning solutions for such controlled environments, extending our previous research. The proposal combines the optimization capabilities of the A* algorithm with the search capabilities of co-evolutionary algorithms. The outcome is a set of routes, either from A* or from the co-evolutionary process, that are collision-free; this set is generated in real-time and makes its implementation on edge-computing devices feasible. Although further research is needed to reduce the computational time, the computational experiments performed in this study confirm a good performance of the proposed approach in solving complex cases where well-known alternatives, such as M* or WHCA, fail in finding suitable solutions.
期刊介绍:
Integrated Computer-Aided Engineering (ICAE) was founded in 1993. "Based on the premise that interdisciplinary thinking and synergistic collaboration of disciplines can solve complex problems, open new frontiers, and lead to true innovations and breakthroughs, the cornerstone of industrial competitiveness and advancement of the society" as noted in the inaugural issue of the journal.
The focus of ICAE is the integration of leading edge and emerging computer and information technologies for innovative solution of engineering problems. The journal fosters interdisciplinary research and presents a unique forum for innovative computer-aided engineering. It also publishes novel industrial applications of CAE, thus helping to bring new computational paradigms from research labs and classrooms to reality. Areas covered by the journal include (but are not limited to) artificial intelligence, advanced signal processing, biologically inspired computing, cognitive modeling, concurrent engineering, database management, distributed computing, evolutionary computing, fuzzy logic, genetic algorithms, geometric modeling, intelligent and adaptive systems, internet-based technologies, knowledge discovery and engineering, machine learning, mechatronics, mobile computing, multimedia technologies, networking, neural network computing, object-oriented systems, optimization and search, parallel processing, robotics virtual reality, and visualization techniques.