Formation and obstacle-avoidance control for mobile swarm robots based on artificial potential field

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.