Multi-robot path planning based on improved artificial potential field and B-spline curve optimization

This paper mainly studies the path planning algorithm for multi-robot. It introduces a gain constraint and a random factor to improve the artificial potential field method, which respectively suppresses the path oscillation and avoid the local minimum. Based on the improved artificial potential field method, the B-spline curve optimization is used to smooth the planned path. The simulation results show that the algorithm improvement made in this paper is effective in solving the multi-robot path planning problem.