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Mobile Blasting Robot Obstacle Avoidance Planning

Aiming at the obstacle avoidance of the movable blasting robot, this paper proposes a method based on the improved artificial potential field method to solve the problem of obstacle avoidance when the robot moves to the target point. Based on the traditional artificial potential field method, one of the problems is that the end point of the target is unreachable, and another problem is that the safety distance of the robot in actual work is not considered. An improved artificial potential field method is proposed to solve the above problems and the robot can successfully complete the obstacle avoidance movement. In addition, a multi-robot obstacle avoidance method based on the follower leadership method is proposed to achieve the obstacle avoidance of multiple robot working together. Under the joint action of these two algorithms, multiple robots can accurately avoid obstacles and reach the target point. Simulation results demonstrate the effectiveness of the proposed method.