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The Euro-China Conference on Intelligent Data Analysis and Applications

ECC 2018: Proceedings of the Fifth Euro-China Conference on Intelligent Data Analysis and Applications pp 684–690Cite as

Research on Multi-robot Local Path Planning Based on Improved Artificial Potential Field Method

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 891))

Abstract

Aiming at solving the dynamic real-time obstacle avoidance problem of multi-robots, the artificial potential field method is adopted. The traditional artificial potential field method has local minimum and target unreachable ability problems. Redefining the repulsion function makes the robot not mistakenly use a additional point, so that reaching the target point ,it can solve the problem that the multi-robot performing collision avoidance in real time in the case of dynamic obstacles, connected realizing the optimal path planning from the source coordinate point to the target coordinate point, and through the simulation verification method accuracy and feasibility.

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References

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Acknowledgments

This research was supported in part by grants from the International Cooperation and Exchange Program of Shaanxi Province (2018KW-026), Natural Science Foundation of Shaanxi Province (2018JM6120), Xi’an Science and Technology Plan Project (201805040YD18CG24(6)), Major Science and Technology Projects of XianYang City (2017k01-25-12), Graduate Innovation Fund of Xi’an University of Posts & Telecommunications (CXJJ2017012, CXJJ2017028, CXJJ2017056).

Author information

Authors and Affiliations

  1. School of Communication and Engineering, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China

    Bo Wang & Kai Zhou

  2. School of Automation, Xi’an University of Post and Telecommunications, Xi’an, 710121, China

    Junsuo Qu

Authors
  1. Bo Wang
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  2. Kai Zhou
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  3. Junsuo Qu
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Corresponding author

Correspondence to Bo Wang .

Editor information

Editors and Affiliations

  1. Department of Computer Science, VSB-Technical University of Ostrava, Ostrava, Czech Republic

    Pavel Krömer

  2. School of Automation, Xi’an University of Posts and Telecommunications, Xi’an, China

    Hong Zhang

  3. College of Computer Science and Engineering, Shandong University of Science and Technology, Qingdao, China

    Yongquan Liang

  4. College of Information Science and Engineering, Fujian University of Technology, Fuzhou, Fujian, China

    Jeng-Shyang Pan

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Cite this paper

Wang, B., Zhou, K., Qu, J. (2019). Research on Multi-robot Local Path Planning Based on Improved Artificial Potential Field Method. In: Krömer, P., Zhang, H., Liang, Y., Pan, JS. (eds) Proceedings of the Fifth Euro-China Conference on Intelligent Data Analysis and Applications. ECC 2018. Advances in Intelligent Systems and Computing, vol 891. Springer, Cham. https://doi.org/10.1007/978-3-030-03766-6_77

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