Control of collision avoidance for swarm robots foraging in complex environment

The collision avoidance is an ineviatable problem for swarm robots foraging in complex environment. The robot not only to avoid collision with other robots, but also to avoid collision with static obstacles in the environment. In this paper, a new control policy that make the best of use of quantitative superiority was designed based on the improved artificial potential force. In the control strategy, swarm robots can perform the conllision advoidance behavior effectively. The simulation results demonstrated the effectiveness of the control strategy.