Contribution to the path planning of a multi-robot system: centralized architecture

The current study is set to investigate the problem of planning trajectories for a multi-robot system in a dynamic environment. The planning study is conducted in a “barrier-free” and “with obstacle” environment, based on the artificial potential field (APF) technique. This study seeks to improve the APF method in order to have good trajectory planning of a multi-robot system. Also, for multi-robot mobile systems, one of the main technical considerations is the technique used to coordinate the movements of different robots. In this paper, we proposed a centralized architecture for the trajectory planning of a multi-robot system.