Path Planning of Multi-robot Cooperation for Avoiding Obstacle Based on Improved Artificial Potential Field Method

• Main Authors: Yang Zhaofeng, Zhang Ruizhe
• Format: Article
• Language: English
• Published: IFSA Publishing, S.L. 2014-02-01
• Series: Sensors & Transducers
• Subjects: Artificial potential field method; Multi-robot writing; Path planning; Local minimum value.
• Online Access: http://www.sensorsportal.com/HTML/DIGEST/february_2014/Vol_165/P_RP_0076.pdf

In the process of the multi-robot collaboration, the problem of path planning is necessary to consider the barrier of static obstacles, but also to avoid collisions between the collaborative robots. This paper selected artificial potential field method as the basic method of path planning, and proposed improvement strategies for its unreachable goal and the problem of easy to fall into local minimum value and other issues. In theory, improvement measures of this paper can make repulsive force of the robot close to the obstacles around target tends to 0, and forms path planning along the edge of the obstacles. Simulation results show that the proposed method can effectively solve the inherent problems of artificial potential field to form a satisfactory path planning.