Cooperative Hunting of Spherical Multi-robots based on Improved Artificial Potential Field Method

Abstract

With the development of robot technology, the research of multi-robot cooperative target search in the military field mainly focuses on avoiding obstacles while surrounding the target, but most of the object-oriented research is a single robot and a single obstacle. In view of the object - oriented simplicity, this paper uses robot cluster to avoid multiple obstacles. Artificial potential field algorithm is widely used in the field of robot obstacle avoidance because of its simple structure, small amount of computation and good real-time performance. But in actual use in the artificial potential field algorithm has certain defects, mainly includes the target unreachable problem and local minimum value problems, by improving the traditional artificial potential field algorithm, this study so as to improve the artificial potential field algorithm when use the deficiencies, in order to improve the artificial potential field algorithm when the mobile robot to round up the target of obstacle avoidance. Finally, the simulation results show that the improved artificial potential field method can solve the problems of local minimum and unreachable target, and has good dynamic obstacle avoidance ability. This method ensures the reliability of spherical robot group and improves the efficiency of multi-robot group.