maryam seifi - Department of Electrical, Computer and Biomedical Engineering Islamic Azad University, Qazvin Branch
payam zarafshan - Department of Agro—Technology, College ofAburaihan, University of Tehran, Tehran, Iran
khalil alipour - Department of Mechutronics Eng., F acuity of New Sciences and Technologies, University of Tehran

in this paper, four methods of optimal path planning to across the obstacles and reaching the goal are investigated. These algorithms have been also upgraded for multi robots based on virtual stnicture to avoid collision. The analyzed algorithms are potential field method, genetic algorithm particle swarm optitnization algorithm and A‘ algorithm. Moreover, a new algorithm which is called Rang of Vision (ROV} has presented and simulated to eliminate some faults of referred algorithms. Although the proposed algorithm has a very low computing volume. it has shown high perfomtance and has been greatly impressive iII the results.

path Planning, Genetic Algorithm, Particle Swarm Optimization Algorithm, Potential Field Method