Title :
Formation and obstacle-avoidance control for mobile swarm robots based on artificial potential field
Author :
Ping, Song ; Kejie, Li ; Xiaobing, Han ; Guangping, Qi
Author_Institution :
Sch. of Aerosp. Sci. & Eng., Intell. Robot. Inst., Beijing, China
Abstract :
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.
Keywords :
collision avoidance; mobile robots; multi-robot systems; artificial potential field; emergency treatment; formation control; mobile swarm robots; obstacle avoidance control; path planning; Aerospace engineering; Heuristic algorithms; Intelligent robots; Learning; Legged locomotion; Mobile robots; Orbital robotics; Path planning; Robot sensing systems; Wireless sensor networks;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420385
