Coordinated motion planning of multiple mobile robots using potential field method

Abstract

The present paper deals with the navigation of multiple wheeled robots working in a common dynamic environment, in a decentralized manner. A potential field-based motion planner has been developed to plan the motion of the robots and a strategic approach has been proposed to develop the decision making support. Performance of the developed approaches have been tested through computer simulations. Proposed strategy has been found to solve the conflicts and induced coordination among the agents.