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

fYear

2010

fDate

3-6 May 2010

Firstpage

1530

Lastpage

1534

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference (I2MTC), 2010 IEEE

Conference_Location

Austin, TX

ISSN

1091-5281

Print_ISBN

978-1-4244-2832-8

Electronic_ISBN

1091-5281

Type

conf

DOI

10.1109/IMTC.2010.5488238

Filename

5488238