Path Planning for a Multi-robot System with Decentralized Control Architecture

  • Fethi Metoui
  • Boumedyen BoussaidEmail author
  • Mohamed Naceur Abdelkrim
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 270)


In this chapter we have studied the path planning problem of a group of autonomous Wheeled Mobile Robots in a very dynamic workspace. The work focuses on the combination of artificial potential field approach with the decentralized architecture to coordinate the movements of robots. The technique implemented is adapted to solve the path planning problem for a multi-robot system. So, the problem of coordination of robots at the intersection zone is solved by the use of the priority allocation method. We also used the neighborhood detection technique to reduce the influence area of each robot and to optimize the time of calculation. The solution is tested and simulated with Matlab/Simulink.


Wheeled mobile robot Multi-robot system Decentralized control architecture Artificial potential field Priority conflict management 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Fethi Metoui
    • 1
  • Boumedyen Boussaid
    • 1
    Email author
  • Mohamed Naceur Abdelkrim
    • 1
  1. 1.National School of Engineers of GabesUniversity of GabesGabesTunisia

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