Collaborative Multi-Robot Formation Control and Global Path Optimization

For multi-robot cooperative formation and global path planning, we propose to adjust the repulsive field function and insert a dynamic virtual target point to solve the local minima and target unreachability problems of the traditional artificial potential field (APF) method. The convergence speed a...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Di Liang, Zhongyi Liu, Ran Bhamra
Format:	Article
Language:	English
Published:	MDPI AG 2022-07-01
Subjects:	artificial potential field ant colony optimization graph theory multi-robot formation control consistency algorithm
Online Access:	https://www.mdpi.com/2076-3417/12/14/7046