Title :
A dynamic path planning in multi-robots pursuit-evasion problem
Author :
Gang, Peng ; Jin, Zhao ; Xin-han, Huang ; Chun, Xia
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
The paper proposes a dynamic path planning in multi-robots pursuit-evasion problem. The artificial potential arithmetic takes the move information of obstacle into account adequately and uses the repulsive field function whose parameters are adjustable. So, it can adjust the intensity of repulsive field aimed at the different move information of obstacle, can solve the default of the conventional artificial potential method effectively, and can enhance the efficiency of path plan remarkably in dynamic obstacle environment. The validity of the solution was proven by experiment results.
Keywords :
collision avoidance; multi-robot systems; path planning; artificial potential arithmetic; dynamic obstacle environment; dynamic path planning; multirobot pursuit-evasion problem; repulsive field function; repulsive field intensity; Abstracts; Automation; Educational institutions; Electronic mail; Multirobot systems; Path planning; Robots; Multi-Robots System; artificial potential; dynamic obstacle avoidance; path planning; pursuit-evasion;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3