针对目前多机器人避碰算法存在的计算复杂、缺乏普适性等的局限性，以传统人工势场法为基础，将协商和意愿引入人工势场范畴，提出了多机器人系统运动规划的广义势场算法．该算法以物理空间障碍为基础构造排斥势场，以意愿为基础构造吸引势场，并通过排斥势场与吸引势场的拓扑积构成人工势场．在人工势场中，通过对势场中微团运动趋势的求解就可得出所需的路径规划．实验证明，该算法不仅具有人工势场法系统模型构造简单、能够进行最优路径规划的优势，而且在系统运行过程中有效地避免了系统死锁的发生．

As the existing multi-robot collision avoidance algorithm is of high computational complexity and poor applicability, a new algorithm based on the generalized potential field and the traditional artificial potential field-based algorithm, which takes into consideration the consult and desire of the robot, is proposed for the motion planning of multi-robot system. In this algorithm, a repellence potential field is built based on the obstacles in the physical space, a gravitation potential field is built based on the desire, and a generalized artificial potential field is built by the topological product of the repellence and the gravitation potential fields. By solving the motion trend of the mini- cells in the established artificial potential field, a road planning can be successfully implemented. Experimental re- sults indicate that, as compared with the traditional artificial potential field-based algorithm, the proposed algorithm is also simple in structure and is superior in terms of optimal path planning and mobile collision avoidance.