Dynamic artificial potential field based multi-robot formation control

Collision between robots and the global minimum point, which exist in the traditional artificial potential field (TAPF), seriously affect the formation of multi-robot system. The paper constructs a dynamic artificial potential field (DAPF) based on the local information to solve the problem of the TAPF. Collisions between robots are avoided by introducing the repulsion between robots. The problem of global minimum point is solved by adjusting the robot movement direction within the escaping area. Simulation results demonstrate the effectiveness and practicability of the formation control algorithm based on the proposed dynamic artificial potential field.