Navigation of mobile robots by potential field methods and market-based optimization

摘要

Mobile robots play an increasing role in everyday life, be it for industrial purposes, military missions, or for health care and for the support of handicapped people. A prominent aspect is the multi-robot planning, and autonomous navigation of a team of mobile robots, especially the avoidance of static and dynamic obstacles. The present paper deals with obstacle avoidance using artificial potential fields and selected traffic rules. As a novelty, the potential field method is enhanced by a decentralized market-based optimization (MBO) between competing potential fields of mobile robots. Some potential fields are strengthened and others are weakened depending on the local situation. In addition to that, circular potential fields are ’deformed’ by using fuzzy rules to avoid an undesired behavior of a robot in the vicinity of obstacles.