Multi-Robot Formation Obstacle Avoidance Based on Virtual Robots and Improved Artificial Potential Fields

Aiming at the problem of multi-robot formation control to avoid obstacles, a formation obstacle avoidance algorithm based on virtual robot layer and improved artificial potential field is proposed. First, for information management, a member management mechanism based on the virtual swarm head is designed to realize information sharing and navigator designation. Second, the artificial potential field method is improved to establish the internal potential field of robots and the potential field of obstacles to ensure the obstacle avoidance of multiple robots in the formation process and the collision avoidance among members; finally, simulation experiments are designed, and it is finally proved that the method can effectively solve the obstacle avoidance and collision avoidance problems of the multi-robot system in the formation process.