Multiple mobile robots path planning in dynamic unknown environment based on improved potential field

Mulliple mobile robots path planning is one of the fundamental problems in multiple mobile robotic systems. In this paper, an improved artificial potential field (APF) based approach for multiple mobile robots path planning in dynamic unknown environment is proposed In this approach, the conventional attractive potential function is used to pull the robot to the destination. Whereas, the repulsive potential function is improved, in which the relative velocity of the robot respective to the obstacle, including static obstacle and dynamic obstacle, is considered Thus by the effect of virtual repulsive force, the robot will not only be repulsed away from the obstacles but also be repulsed to change its moving direction to avoid collision with the dynamic obstacle. Cases studies are provided and analyses are made to show the effectiveness of the proposed approach.