Stepping motion coordination strategy based on environmental prediction for multiple robots system

摘要

Aiming at the shortcomings of artificial potential field method (APFM), the improved grid-potential field method (IGPFM) is proposed. This method combines APFM with the grid method and make up the shortcomings of APFM by setting up the attributes of the grid. On this basis a kind of stepping motion coordination strategy based on environmental prediction for multiple robots system is put forward. This method is applied in path planning of mobile robot in unknown dynamic environment. In order to validate IGPFM and the coordination strategy, we carry on simulation study. The simulation results show that this method is feasible, its algorithm is simple and its computational amount is small.