Path Planning for Master-slaves Wireless Multiple Mobile Robots

摘要

There are two major drawbacks in path planning especially when a lot of obstacles exist. One is the local minimum problem, the other is the goal unreachable. We present an improved artificial potential field (APF) approach based on the baseline. The path planning is separated into several single APF models with single obstacle and single object. The local minimum problem can be resolved by virtual shift of the obstacle from the baseline and compensation of the force from the obstacle. The goal unreachable can be resolved by the extended active range of the obstacle. The path planning is just for multi-goal for multi-robot. In this paper we show the simulation and experimental result of real robots. The experimental result illustrates the appropriateness of the approach.