A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm

ABSTRACT

In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task’s completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task’s completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach.

KEYWORDS:

• Multiple car-like robots
• path planning
• PH curves
• harmony search algorithm
• variable motion

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This research is funded by Major Project of Chinese National Programs for Fundamental Research and Development [grant no. 2014CB046705], all support is gratefully acknowledged.