Decentralized Robust Collision Avoidance Based on Receding Horizon Planning and Potential Field for Multi-Robots Systems

摘要

This paper deals with the decentralized navigation problem for multi-robots systems. The proposed planning scheme consists of two parallel processes. A decentralized receding horizon motion planner, in which each robot computes its planned trajectory, enables the coordination between cooperative robots. A fast navigation controller, based on artificial potential fields and sliding mode control technique, is used to simultaneously track the planned trajectory while avoiding collision with unexpected entities. Simulation studies are provided in order to show the effectiveness of the proposed approach.