Motion planning for mobile robotics using the generalized sigmoid function

In this paper, we propose a solution for robot motion planning in a complex environment with sparsely placed obstacles of arbitrary shape. We propose a generalized sigmoid function method to model the obstacles of arbitrary shape. The proposed model can achieve an accurate analytic description of the obstacles in two or three dimensions and is very easy to calculate and visualize. To demonstrate our generalized sigmoid method, we consider a robot team goal-finding task in this paper. Simulation results show that a mobile robot team can reach, the goal through the complex environment with obstacles of arbitrary shape without collision with any obstacles and other team members.