Multi-robot Rounding Strategy Based on Artificial Potential Field Method in Dynamic Environment

摘要

This paper proposes an obstacle avoidance and formation rounding strategy based on the improved artificial potential field method, which can give full play to the advantages of strong real-time artificial field method, good online computing ability and fast local processing ability, so that the car formation can be based on safety. Smoothly avoid dynamic and static obstacles in the environment to complete the round-up of moving targets. The MATLAB simulation platform is used to realize the dynamic obstacle avoidance and target rounding of the car, which fully verifies the correctness and the effectiveness of the proposed strategy.