Composite Local Path Planning for Multi-Robot Obstacle Avoidance and Formation Navigation

Sung-Gil Wee, Yoon-Gu Kim, Jinung An, Dong-Ha Lee, Suk-Gyu Lee


This paper proposes a composite local path planning method for multi-robot formation navigation with path deviation prevention using a repulsive function, A-star algorithm, and unscented Kalman filter (UKF). The repulsive function in the potential field method is used to avoid collisions among robots and obstacles. The A-star algorithm helps the robots to find an optimal local path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The proposed method of composite local path planning is verified by the simulation results of the collective robot navigation because the system maintains a designated formation and performs a successful return to the assigned formation with effective obstacle avoidance under various experimental conditions.


Collision-free; Composite local path planning; Path deviation prevention; Path re-planning

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