Locally oriented potential field for controlling multi-robots

In this paper, we present an extension of the boundary value problem path planner (BVP PP) to control multiple robots in a robot soccer scenario. This extension is called Locally Oriented Potential Field (LOPF) and computes a potential field from the numerical solution of a BVP using local relaxations in different patches of the solution space. This permits that a single solution of the BVP endows distinct robots with different behaviors in a team. We present the steps to implement LOPF as well as several results obtained in simulation.

► We propose an approach for controlling multi robots in a robot soccer scenario. ► Our proposal uses the potential field generated by the numeric solution of a BVP. ► The local distortion of the potential field endows robots with distinct behaviors. ► We compare our approach with the traditional potential field.