Formation and Obstacle-Avoidance Control for Mobile Swarm Robots Based on Artificial Potential Field

摘要：

In this paper, the artificial potential field method was applied to the formation control and real-time path planning in unknown environment for mobile robots; in the same time, we find a method for mutual cooperation between the robots in the process of obstacle avoidance, and the emergency treatment to special circumstances, Which can deal with the local minimum problem in artificial field approach. The simulation experiments show that the method is effective.

作者: Song Ping Li Kejie Han Xiaobing Qi Guangping

作者单位: Intelligent Robotics Institute,School of Aerospace Science and Engineering,Beijing Institute of Technology,5 South Zhongguancun Street,Haidian District Beijing 100081,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2273-2277

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）