Escaping Local Minima: Hybrid Artificial Potential Field with Wall-Follower for Decentralized Multi-Robot Navigation
Published in Proc. of Int. Conf. on Robotics and Automation (ICRA), 2025, 2025
We introduce a hybrid navigation algorithm that switches between Artificial Potential Field (APF) and Wall-Following (WF) to overcome local minima in decentralized multi-robot systems.
Highlights
- Fully decentralized, mapless, and communication-free
- Adaptive switching based on 2D LiDAR perception
- Learning-based switching model trained from human demonstration
Media
🎥 Demo Video
📄 Paper Link