The thesis covers the problem of fiding a path planning algorithm for mobile
robots, with a special emphasis on predictability of movement. This property
enables better safety and coordination of multiple robots. A new iterative
algorithm PingPong* is proposed, which plans a path for two robots simultaneously,
while simultaneously avoiding the other robot. The algorithm is
upgraded with the version OmejeniPingPong*, which allows for path finding
in a limited space using heuristics. In the thesis, I also performed a mathematical
analysis of the discontinuity points of these two algorithms, and I
also proposed an efficient method for their detection with simulated annealing.
The results confirm the usefulness of the algorithm. In the end I also
proposed possibilities for further improvements.
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