Details
Original language | English |
---|---|
Title of host publication | Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023 |
Publisher | Springer Science + Business Media |
Pages | 99-110 |
Number of pages | 12 |
ISBN (electronic) | 9783031740107 |
ISBN (print) | 9783031740091 |
Publication status | Published - 20 Mar 2025 |
Abstract
This paper presents a comparison of multiple global path planning algorithms regarding their usage in multi-robot systems. Most performance-based comparisons only focus on computation time and path length, which are not the most important indicators when transporting an object using a multi-robot formation. Therefore, we decided to add the distance to obstacles and curvature of the path as performance metrics to support the selection of a fitting global path planner for a multi-robot application. In the comparison, we included the PRM, RRT*, Relaxed A* and Voronoi path planning algorithms. Each algorithm performs a specified number of planning tasks and is evaluated by the planning success, path length, obstacle distance and curvature, which are visualized below.
Keywords
- Global path planning, Mobile robot, Navigation
ASJC Scopus subject areas
- Computer Science(all)
- General Computer Science
- Mathematics(all)
- General Mathematics
- Engineering(all)
- General Engineering
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Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023. Springer Science + Business Media, 2025. p. 99-110.
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Comparison of Global Path Planning Algorithms Regarding Multi Mobile Robot Object Transport Requirements
AU - Lurz, Henrik
AU - Recker, Tobias
AU - Raatz, Annika
N1 - Publisher Copyright: © The Editor(s) (if applicable) and The Author(s) 2025. This book is an open access publication.
PY - 2025/3/20
Y1 - 2025/3/20
N2 - This paper presents a comparison of multiple global path planning algorithms regarding their usage in multi-robot systems. Most performance-based comparisons only focus on computation time and path length, which are not the most important indicators when transporting an object using a multi-robot formation. Therefore, we decided to add the distance to obstacles and curvature of the path as performance metrics to support the selection of a fitting global path planner for a multi-robot application. In the comparison, we included the PRM, RRT*, Relaxed A* and Voronoi path planning algorithms. Each algorithm performs a specified number of planning tasks and is evaluated by the planning success, path length, obstacle distance and curvature, which are visualized below.
AB - This paper presents a comparison of multiple global path planning algorithms regarding their usage in multi-robot systems. Most performance-based comparisons only focus on computation time and path length, which are not the most important indicators when transporting an object using a multi-robot formation. Therefore, we decided to add the distance to obstacles and curvature of the path as performance metrics to support the selection of a fitting global path planner for a multi-robot application. In the comparison, we included the PRM, RRT*, Relaxed A* and Voronoi path planning algorithms. Each algorithm performs a specified number of planning tasks and is evaluated by the planning success, path length, obstacle distance and curvature, which are visualized below.
KW - Global path planning
KW - Mobile robot
KW - Navigation
UR - http://www.scopus.com/inward/record.url?scp=105009188658&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-74010-7_9
DO - 10.1007/978-3-031-74010-7_9
M3 - Contribution to book/anthology
AN - SCOPUS:105009188658
SN - 9783031740091
SP - 99
EP - 110
BT - Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023
PB - Springer Science + Business Media
ER -