Reinforced Potential Field for Multi-Robot Motion Planning in Cluttered Environments
Dengyu Zhang,Xinyu Zhang,Zheng Zhang,Bo Zhu,Qingrui Zhang,Dengyu Zhang,Xinyu Zhang,Zheng Zhang,Bo Zhu,Qingrui Zhang
Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a reinforced potential field method is developed for distributed multi-robot motion planning, which is a synthesized design of reinforcement learning and artificial pote...