Multiple Mobile Robot Path Planning in 3D Environment Using Tangent Tree Algorithm

Abstract Due to the effective applications of multi-agent systems, there is an importance to develop efficient methods to manage these systems. One of the most important methods is path planning. This paper proposes a new algorithm for the path planning of multiple mobile robots in 3D environment named Tangent Tree Algorithm. It based on the assumption that the robots have spherical shapes and can move in a 3D space like drones, other moving robots considered as obstacles for the robot. The robot path performed using two modes: In the first mode, the robot moves in a straight line to the tangent point of assumption sphere. In the second mode, it moves around the assumption sphere. The assumption sphere locates at the calculated collision 3D point with the other robots. A number of possible paths constricted using these modes. A Tangent tree algorithm for multi-robot formed and the minimum path is determined based on minimizing this tree. Simulation results indicate that the new algorithm is superior to other algorithms in terms of both the path cost and computation required. Furthermore, this algorithm does not change the velocity of the robots; it only depends on the orientation.