A dynamic path planning in multi-robots pursuit-evasion problem

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.