Multi-robot path planning based on improved artificial potential field and B-spline curve optimization
| Autor: | Weizhou Su, Junhui Li, Zicong Wu |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Oscillation Computer science Potential field 02 engineering and technology Robot path planning Computer Science::Robotics Constraint (information theory) 020901 industrial engineering & automation Path (graph theory) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Motion planning B spline curve |
| Zdroj: | 2019 Chinese Control Conference (CCC). |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|