Multi-Robots Path Planning Based on Improved Artificial Potential Field Method

Abstract

Mobile path planning is a focus area and the key to intelligent technologies in robot. As one of the most basic and important topics the problem of mobile robot path planning solve the trouble that the robot avoid obstacles in the environment and how to successfully reach the destination. On the emergence of case that is the robot can not reach the target point and easy to fall into local minimum .This will be optimized by improving the way repulsive field function, When the robot close to the target point, not only the gravity of the gravitational field continue to reduce but also the repulsion of the repulsive force field has also been decreasing. This would solve the problem that when the robot reach the target point but easy to fall into local minimal solution. In traditional artificial potential field method, the target is static, but due to prey (i.e. target) is dynamic in this article, the traditional artificial potential field of gravitational field function is not suitable for the situation discussed. Therefore this paper puts forward a dynamic movement is based on the goal of the gravitational field of new functions.