An improved adaptive artificial potential field method for the path planning of multi-robot

Based on the study of the traditional multi-robot path planning, an improved adaptive artificial potential field method was proposed. In this method, the local minimum problem of the traditional artificial potential field could be solved by setting the virtual target point for mobile robot to escape local minimum. At the same time, according to the task and speed of the robot, it used the adaptive priority strategy to realize the adaptive obstacle avoidance of the robot. The results of the simulation proved the effectiveness and feasibility of this method.