关键词: 人工协调场, 避碰算法, 多机器人系统, 分布式系统

Abstract: Concerning the collision avoidance problem for multi-robot system, a collision avoidance algorithm based on improved artificial coordinating field was advanced. Firstly, a method was adopted, which made obstacle convex and chose new target initiatively to resolve the deadlock problem with artificial coordinating field in non-protruding polygon obstacle surroundings. Secondly, a repelling force was modeled based on velocity and distance to overcome the problem of low space utilization ratio with artificial coordinating field, especially in the situation that the target was near by the obstacle. Lastly, a force mixer was designed, and it was applied to avoidance movement tremble. The experimental results indicate that, the algorithm is effective and reliable to resolve collision avoidance problem for multi-robot system, and it improves the adaptability of multi-robot system for complicated environment.

Key words: artificial coordinating field, collision avoidance algorithm, multi-robot system, distributed system