Improvement of Path Planning Algorithm based on Small Step Artificial Potential Field Method

Abstract

In the process of controlling the behavior of multi-agent, the cooperative control between the agent obstacle avoidance algorithm and the agent is a necessary link to realize the task of multi-agent. Based on the artificial potential field method, this paper conducts formation obstacle avoidance control for multi-agent formations, analyzes the influence of its step size on path planning, and proposes two methods to optimize the path and analyze its advantages and disadvantages. Finally, the sampling path is quality checked and re-optimized by the informed RRT* algorithm.