DOI: https://doi.org/10.15368/theses.2020.120
Available at: https://digitalcommons.calpoly.edu/theses/2557
Date of Award
3-2020
Degree Name
MS in Electrical Engineering
Department/Program
Electrical Engineering
College
College of Engineering
Advisor
Xiao-Hua (Helen) Yu
Advisor Department
Electrical Engineering
Advisor College
College of Engineering
Abstract
In this thesis, the viability of decentralized, noncooperative multi-robot path planning algorithms is tested. Three algorithms based on the Batch Informed Trees (BIT*) algorithm are presented. The first of these algorithms combines Optimal Reciprocal Collision Avoidance (ORCA) with BIT*. The second of these algorithms uses BIT* to create a path which the robots then follow using an artificial potential field (APF) method. The final algorithm is a version of BIT* that supports replanning. While none of these algorithms take advantage of sharing information between the robots, the algorithms are able to guide the robots to their desired goals, with the algorithm that combines ORCA and BIT* having the robots successfully navigate to their goals over 93% for multiple environments with teams of two to eight robots.
Data File for Replanning Tests
results_2.csv.gz (44 kB)
Data File for Metrics
nodes_2.csv.gz (42 kB)
robot_time_2.csv.gz (51 kB)
waypoints_2.csv.gz (716 kB)