Controlling multiple holonomic mobile robots has been considered in this project. The task is to transfer robots from their initial conditions to their desired destinations without colliding with each other. The solution is based on the potential field of each robot. Hence no trajectory planning is done for robots to perform the scenario. In this approach, at every time steps, distances and directions of robots will be calculated with respect to each other and also to the walls.

1.Clone the repository.

2.Change initial conditions or number of robots in initialize.m file if you want.

3.Change problem number in line 2 of simulate_system.m file (first input of initialize function) to see both problem simulations. Second input is for finding nearest destinations to the robots.

4.Run main.m file in Matlab.