Path planning and formation control for mobile swarm robots based on artificial potential field

In this paper, the artificial potential field method is applied to the formation control and real-time path planning in unknown environment for mobile swam robots; at 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 is used to optimize the path planning. This is a distributed collaborative approach, whose calculation is simple, easy to implement. The simulation experiments show that the method is effective.