AAPF Algorithm and Its Application to the Path Planning Problems of Multiple Mobile-Robots
Chunhe Song · Journal of Northeastern University · 2009
The path planning of a system composed of multiple mobile-robots is investigated,and an adaptive-artificial potential field(AAPF) algorithms is proposed,in which the adaptive sliding strategy is introducted to solve the problem that the baisc APF is easy to come to lobal extremum.And the adaptive anticollision strategy is introduced into the algorithm to solve the problem of collinsion in the path planning of the system of multiple mobile-robots.The effectiveness of AAPF algorithm was verified by a simulation test where AAPF was applied to the path planning of the system of multiple mobile-robots.