A generalized share potential fields approach to multi-robot coordination

Abstract

In this paper, we propose a feasible and efficient coordination approach to plan collision-free paths for multiple mobile robots in the unknown dynamic environment. Each robot is assumed to have simple dynamic and behavior. Our approach is based on the potential field to coordinate the movement of multiple robots via the perception fusion. The collision-free paths can be determined by different coordination and behavior modes. Finally, simulation results are given to demonstrate the feasibility and effectiveness of this approach.