Prioritized Path Planning for Multiple Robots Based on Theta* Plus with Known Dynamic Obstacles

This paper solves the problem that expanding nodes incompletely of pure theta* in dynamic environments. The theta* plus algorithm with known dynamic obstacles is proposed to plan feasible paths for multiple robots. It is a two-level algorithm. At the high-level, each robot is assigned a unique priority by prioritized planning. At the low-level, the theta* plus algorithm with known dynamic obstacles is proposed for each robot to plan the path while avoiding conflict with robots with higher priority. The results of the simulations show that the approach proposed can perform some multi-robot path planning problems well.