Improved Artificial Moment Method for Path Planning of Swarm Robots

An Artificial Moment Method with Decreasing Negative Effects and Keeping Sensing Obstacles (AMM-DNE-KSO) is proposed for the path planning of swarm robots in complex situations. First, a new algorithm is presented for the key companion of a robot close to its target. The algorithm will not make the robot change its key companion frequently and select the same robot as its key companion for a long duration. Second, two new algorithms are presented respectively for attractive points and attractive angles of robots. As such, a robot can decrease its negative effects on others and is easier to keep important obstacles within sensing range. Finally, the existing artificial moment motion controller is improved. Simulation results indicate that the method is helpful for robots to keep sensing important obstacles, and can decrease the negative effects in the system and yield better solutions in complex situations.