Title :
Dynamic artificial potential field based multi-robot formation control
Author :
Zhang, Min ; Shen, Yi ; Wang, Qiang ; Wang, Yibo
Author_Institution :
Dept. of Control Sci. & Eng., Harbin Inst. of Technol., Harbin, China
Abstract :
Collision between robots and the global minimum point, which exist in the traditional artificial potential field (TAPF), seriously affect the formation of multi-robot system. The paper constructs a dynamic artificial potential field (DAPF) based on the local information to solve the problem of the TAPF. Collisions between robots are avoided by introducing the repulsion between robots. The problem of global minimum point is solved by adjusting the robot movement direction within the escaping area. Simulation results demonstrate the effectiveness and practicability of the formation control algorithm based on the proposed dynamic artificial potential field.
Keywords :
collision avoidance; electric potential; mobile robots; multi-robot systems; TAPF; collision avoidance; global minimum point problem; multirobot formation control; traditional artificial potential field; Aerodynamics; Aerospace industry; Control systems; Job shop scheduling; Measurement errors; Military computing; Multirobot systems; Processor scheduling; Robot sensing systems; Service robots; artificial potential field; global minimum point; multi-robot formation;
Conference_Titel :
Instrumentation and Measurement Technology Conference (I2MTC), 2010 IEEE
Conference_Location :
Austin, TX
Print_ISBN :
978-1-4244-2832-8
Electronic_ISBN :
1091-5281
DOI :
10.1109/IMTC.2010.5488238
