Path planning for a formation of autonomous robots in an unknown environment using artificial force fields

A novel approach to path planning for the formation of a swarm of autonomous robots in an unknown environment is presented in this paper. This approach is designed based on the traditional potential fields combined with the rotational vector field. Under the action of this blended vector field, auto...

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Bibliographic Details
Published in2014 18th International Conference on System Theory, Control and Computing (ICSTCC) pp. 773 - 778
Main Authors Dang, Anh Duc, Horn, Joachim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2014
Subjects
Clocks
Collision avoidance
Equations
Force
mobile sensor network
obstacle avoidance
Path planning
Robots
Swarm intelligence
vector fields
Vectors
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DOI10.1109/ICSTCC.2014.6982512

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Summary:A novel approach to path planning for the formation of a swarm of autonomous robots in an unknown environment is presented in this paper. This approach is designed based on the traditional potential fields combined with the rotational vector field. Under the action of this blended vector field, autonomous robots can easily avoid obstacles in order to reach the target position. Furthermore, in this approach, the neighboring robots in a swarm will be linked to each other by the attractive and the repulsive vector field between them in order to generate a stable formation. Information about obstacles, which each member robot detects from the environment, will be sent to all other member robots in the swarm. Hence, while these autonomous robots move towards the target position, the formation of them is maintained and there are no collisions between them. Simulation results and experiments have verified the success of this approach.
DOI:10.1109/ICSTCC.2014.6982512