Multi-robot path planning based on improved artificial potential field and B-spline curve optimization

被引：0

作者：

Wu, Zicong ^{[1
]}

Su, Weizhou ^{[1
]}

Li, Junhui ^{[1
]}

机构：

[1] South China Univ Technol, Coll Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China

来源：

PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年

关键词：

Multi-robot; path planning; improved artificial potential field; B-spline curve;

D O I：

10.23919/chicc.2019.8865232

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper mainly studies the path planning algorithm for multi-robot. It introduces a gain constraint and a random factor to improve the artificial potential field method, which respectively suppresses the path oscillation and avoid the local minimum. Based on the improved artificial potential field method, the B-spline curve optimization is used to smooth the planned path. The simulation results show that the algorithm improvement made in this paper is effective in solving the multi-robot path planning problem.

引用

页码：4691 / 4696

页数：6

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