Flexible trajectory planning of multiple mobile robot systems under dynamic environment

This article presents a path planner for multiple mobile robots maneuvering in a dynamic environment. The path planner is based on the potential field method. The local minima problem has been solved by redefining the repulsive potential field. Also the system controller (look-ahead control} gives mobile robot the capability of controlling the distance between the reference point and the center of the robot. As a result, the potential field method becomes more effective and makes the mobile robot follow a smooth trajectory in a flexible manner for attaining the target position on its own whether in a static or dynamic environment.