Behavior-based control of swarm robots with improved potential field

Abstract

In this paper, a behavior-based navigation control approach with an improved artificial potential field (APF) method is proposed for swarm robots. In this approach a multi-group coordination control strategy is adopted to solve the coordination problems for distributed control and several behaviors are designed for the navigation control of swarm robots to overcome the local minimum and oscillation problems. An improved APF method is applied for the implementation of these behaviors. Numerical results are given to demonstrate the success of the proposed method.