人工势场法在多机器人运动中的研究

多机器人运动主要包括避障避碰、群集运动、队形控制三个模块.人工势场法在这三方面的理论基础已比较成熟,但在具体应用上还有一些值得改进的地方,如局部最小问题的解决、多机器人运动存在的特殊碰撞问题、复杂环境下的运动以及队形控制算法的探讨等.针对这些问题,分析了势场法在多机器人运动规划中的研究方法和现状,并对势场法在该研究领域的前景和研究方向做出了展望.

Research of Artificial Potential Field Theory in Motion of Multi-robots

The motion of multi-robots includes collision avoidance,group migration and group formation.Though the artificial potential field method developed well in theory,it still needs more improvement when using it,such as the local minimum problem,the special collision problem caused by multiple robots,the motion in complex environment,the optimization of formation control algorithm and so on.Considering these problems,the research methods and present situations of the artificial potential field theory in the three parts of motion of multi-robots are analyzed.Future research aspects are suggested finally.