Local minima detection in potential field based cooperative multi-robot exploration
M. JuliŠ, A. Gil, L. PayŠ and O. Reinoso
International Journal of Factory Automation, Robotics and Soft Computing  (July, 2008)
Ed. International Society for Advanced Research  ISSN:1828-6984  - Issue 3


In this paper we present an approach for multi-robot cooperative exploration. The approach is based on a potential field generated by several basic behaviours. The main drawback when using potential field methods is the occurrence of local minima, which may trap the robots and stop the exploration process. A technique that enables to detect and escape from these situations is proposed. Several simulations are presented that demonstrate the validity of the approach.