Collision avoidance planning in multi-robot system based on improved artificial potential field and rules
YUAN Xin1,2, ZHU Qi-dan2, YAN Yong-jie2
1.Robot Research Institute,Harbin Institute of Technology,Harbin 150001,China;2.College of Automation,Harbin Engineering University,Harbin 150001,China
Abstract:
For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method,so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots,collisions between robots can be detected,thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-based simulated environment.
Key words: artificial potential field simulated annealing avoiding rules collision avoidance planning multi-robots
DOI：10.11916/j.issn.1005-9113.2009.03.022
Clc Number:TP242
Fund:
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Collision avoidance planning in multi-robot system based on improved artificial potential field and
本站小编 哈尔滨工业大学/2019-10-23
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