Abstract
An improved artificial moment method is proposed for decreasing the negative effects of the robots close to their targets. In the method, a new algorithm is presented for the key companion of a robot close to its target. The algorithm will not make the robot change its key companion frequently and select the same robot as its key companion for a long duration. Second, two new algorithms are presented respectively for attractive points and attractive angles of robots. As such, a robot can decrease its negative effects on others. Finally, the existing artificial moment motion controller is improved. Simulation results indicate that the proposed method can decrease the negative effects in the system and yield better solutions in complex situations.
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