TY - GEN
T1 - Formation and obstacle-avoidance control for mobile swarm robots based on artificial potential field
AU - Song, Ping
AU - Li, Kejie
AU - Han, Xiaobing
AU - Qi, Guangping
PY - 2009
Y1 - 2009
N2 - In this paper, the artificial potential field method was applied to the formation control and real-time path planning in unknown environment for mobile robots; in the same time, we find a method for mutual cooperation between the robots in the process of obstacle avoidance, and the emergency treatment to special circumstances, Which can deal with the local minimum problem in artificial field approach. The simulation experiments show that the method is effective.
AB - In this paper, the artificial potential field method was applied to the formation control and real-time path planning in unknown environment for mobile robots; in the same time, we find a method for mutual cooperation between the robots in the process of obstacle avoidance, and the emergency treatment to special circumstances, Which can deal with the local minimum problem in artificial field approach. The simulation experiments show that the method is effective.
UR - http://www.scopus.com/inward/record.url?scp=77951431120&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420385
DO - 10.1109/ROBIO.2009.5420385
M3 - Conference contribution
AN - SCOPUS:77951431120
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 2273
EP - 2277
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -