An Application of Artificial Potential Functions Method in the Robotic Formation Control
Vanya Dimitrova Markova, Ventseslav Kirilov Shopov · 2023
In this article, APF and RPF are applied in the field of motion control of a group of robots in formation. The influence of the coefficients of attraction and repulsion in APF has been studied. It has been established through numerical experiments and simulations that the coefficients of attraction and repulsion are of different nature. While the coefficient of repulsion has a clear minimum, which can be found by numerical experiment, the coefficient of attraction decreases the total error with increasing