Abstract: Multiple robots path planning problem in dynamic environment is one of the significant and basic problems of cluster robot perception and coordination. The planning problem is decomposed into two modules: the path planning and the conflict coordination. By introducing time-cost function, the Time Integrated A* algorithm (TI-A*) is introduced. Variable speed is employed simultaneously to coordinate the motion and hereby to avoid the deadlock and conflict. By adjusting the timing when the coordination phase is involved, two different coordination TI-A* algorithms are presented, including the speed-changing algorithm and path-changing algorithm. The two algorithms are compared and the respective environments are summarized. The simulation results verify that the mobile robot can apply the dynamic path planning in the complex environment so that the algorithm proposed in this paper can solve the existing problems of the existing A * algorithm.

Key words: multiple mobile robot, Time Integrated A* algorithm, path planning, collision avoidance dynamically, conflict coordination