Planning of conflict-free motion for multiple robots in structured environment

A real-time conflict-free motion planning method, i.e. priority based rules method, was proposed for multiple mobile robots conducting individual tasks in one structured environment. By taking the advantages of rules method and priority method, the present method can make robots avoid collisions and conflicts with other objects in real time, and resolve the inevitable conflicts on line by virtue of the priority of these robots. The method can make the motions of multiple robots more robust and time-saving.