Multi-Robot Formation Control Based on the Artificial Potential Field Method

Xi Na Gao; Li Juan Wu

doi:10.4028/www.scientific.net/AMM.519-520.1360

Paper Titles

Study on Improved APF Algorithm for Autonomous Mobile Robot
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Design and Implementation of Serial Communication for Automatic Titanium Alloy Sorting System
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Research on High-Quality Dual-Redundancy Aircraft Rudder Servo System Simulation
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PID Control of Maglev Levitation System Based on Disturbance Observer
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Multi-Robot Formation Control Based on the Artificial Potential Field Method
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Design and Realization of Intelligent Electricity Processing Task System Supporting for Multiple Time Dimensions
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Design of Library Smart Bookshelf Based on RFID
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The Optimization Strategy of Loop Closing Operation in Self-Healing Distribution Network
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Example Research of Numerical Control Innovation of the Common Machine Tool
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 519-520Multi-Robot Formation Control Based on the...

Multi-Robot Formation Control Based on the Artificial Potential Field Method

Abstract:

The artificial potential field method is one of multi-robot formation control methods. In this paper we make a study on multi-robot formation control based on the artificial potential field method and the leader-follower method. The robots are set leader robot and follower robots respectively. According to the known ideal distance between the leader and follower, we adjust the repulsiveness or attractiveness to maintain multi-robot formation. Multi-robots obstacle avoidance is adopted the artificial potential field method. In this paper the triangle formation is taken as an example. At last the simulation result proves the validity of this algorithm.

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Periodical:

Applied Mechanics and Materials (Volumes 519-520)

Pages:

1360-1363

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.519-520.1360

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Online since:

February 2014

Authors:

Xi Na Gao, Li Juan Wu

Keywords:

Artificial Potential Field Method, Formation, Formation Control, Multi-Robot

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