The boundary node method for <scp>multi‐robot multi‐goal</scp> path planning problems

In this paper, we investigate the multi-goal path planning problem to find shortest collision-free connecting a given set of goal points located in robot working environment. This combines two sub-problems: first, optimize sequence free workspace; second, compute between points. study, genetic algorithm is used that should visit. Once available, our developed method called Boundary Node Method (BNM) applied generate an initial every pair sequenced Subsequently, additional Path Enhancement (PEM) optimal or near-optimal by reducing overall length. BNM, and its immediate surroundings are simulated nine-node quadrilateral element, where centroid node represents robot's position. The moves goals with boundary nodes environment depending on node's potential value. value each point calculated based proposed function. Additionally, article investigates for multi-robot systems, when reached several robots. Finally, simulations experiments performed real mobile demonstrate effectiveness methods.