Prioritized multi robot path planning in presence of dynamic obstacles

Multi-robot path planning is one of the emerging field in robotics. One of the main concern in this field is assigning priority to the respective robots so as to schedule the task for path planning in a time efficient manner. Many researchers have suggested algorithm based on decoupled approach to simplify the solution. But few of them focused on assigning priority on the robots in the dynamic environment where apart from robots obstacles are also moving. In this paper, we are proposing about prioritized multi-robot path planning in the dynamic obstacles with four different maps. We have simulated the experiment and shown the result where all robots reached its respective goals with minimum path length.