Formation control of multi robots with artificial potential field method
Xin Gao · Journal of University of Science and Technology Liaoning · 2014
The research aims at the formation control problem of multi robot formation. The artificial potential field method is used for the multi robot formation,this algorithm has the advantages of simple structure,easy to calculate,and easy real-time control. Firstly,the target search algorithm is use to find the reasonable target position,avoid the detour in the region,and reduce the formation time. Then,through the artificial potential field algorithm,the robot path is planned,the priority obstacle avoidance method is used to solve the collision with other robots in the forward process. Finally,the simulation is carried out for the multi robots formation.The results demonstrate the effectiveness of the formation,and the algorithm is easy to realize.