Artificial coordinating field based real-time coordinating collision-avoidance planning for multiple mobile robots
基于人工协调场的多移动机器人实时协调避碰规划

To overcome the drawbacks of the conventional artificial potential fields in motion planning of mobile robots for dynamic uncertain environments,an artificial coordinating field (ACF) is proposed.Definitions and basic designs of the ACFs were investigated with regard to the collision risk and motion constraints of mobile robots.Based on the ACFs,an effective algorithm without the "dead-lock" for coordinating collision avoidance of multiple mobile robots in dynamic uncertain environments was developed.The theorical analysis and simulations illustrated our results.