Multiple mobile robots are becoming more and more significant in industrial, commercial and scientific application area. A Group of mobile robots are constructed in order to study issues such as group architecture, resource conflict, origin of cooperation, learning, and geometric problem. As yet, a few application of multiple mobile robotics have been reported, and supporting theories are still in its early stages, because such systems bring in the problems of both multiple robot coordination and autonomous navigation in the dynamic environment. Until recently, most of the path planning have been studied in "fixed environment" without autonomously moving obstacles. This thesis presents an algorithm which leads a mobile robot to its destination in dynamic environment where multiple obstacles are moving around. The proposed algorithm is based on the concepts of virtual obstacles and some heuristics. To adapt the actual changes in the environment, path planning is updated frequently while the robot is moving to the goal. Here, we consider a one-way problem in which there is no communication among robots and the proposed algorithm uses a decentralized method for on-line path planning. This thesis showes the feasibility and the effectiveness of the proposed method from the behavior obtained by different experimental conditions through the computer simulation as well as real experiments.
