Multi-robot obstacle avoidance based on artificial potential field method
Zeyu Liu, Xuejun Pan, Shiyi Guo · 2024
Aiming at the obstacle avoidance problem of multi-robot formation in random obstacle environment, this paper proposes an improved method based on artificial potential field method, which solves the problem of unreachable target and local minimum by improving the attraction and repulsion function and introducing simulated annealing algorithm. Based on the formation structure of the leader-follower method, the dynamic formation transformation obstacle avoidance strategy is adopted to solve the problems of serious formation damage and poor flexibility in the formation process. By enabling multi-robots to quickly avoid obstacles and reducing the response time of restoring formation after obstacle avoidance, the ability of robot formation to maintain its own formation can be effectively improved. The improved algorithm is simulated and compared in MATLAB. The experimental results show the effectiveness and feasibility of the method.