MRPP-MATLAB

New Multi robot path planning algorithms implemented in MATLAB. Including heuristic search and incremental heuristic search methods.

(Procedural programming)

Methods

• MAStar: Multi-Robot A* based path planning
• ...

Run

• Go into the methods directory.
• Run the RUN_[Methods_name].m file.
  • MAStar/RUN_MAStar.m

General

Apart from each path planning method's directory, there are two general directories:

• common: common functionalities used in all planning methods
• models: functions for creating and saving models (configurations).

Common Settings

can change this setting in the Run_[method].m file

• distance type: Model.distType ('euclidean' or 'manhattan')
• distance type: Model.adjType ('4adj' or '8adj')

Configuration - Models

Initial configuration includes:

• Map (free nodes)
• obstacles (occupied nodes)
• robot's start node
• robot's goal node
• ...

To change the configuration, you can edit the createModel_#.m file.

Simulation