Collision avoidance in multi-robot systems

被引:31
作者
Cai, Chengtao [1 ]
Yang, Chunsheng [1 ]
Zhu, Qidan [2 ]
Liang, Yanhua [2 ]
机构
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Peoples R China
[2] Natl Res Council Canada, Ottawa, ON K1A 0R6, Canada
来源
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
关键词
multi-robot system; collision avoidance; prediction algorithms;
D O I
10.1109/ICMA.2007.4304002
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Multi-robot systems have been widely applied to various applications to perform a given task collaboratively and cooperatively. In a multi-robot environment, path-planning or collision avoidance is an important problem. This paper tackles this important but challenging problem. We developed a stepforward approach for collision avoidance in multi-robot systems, building on the established techniques from omni-directional vision systems, automatic control, and dynamic programming. The developed collision avoidance algorithms. can help avoid the collision from any static obstacles and any dynamic objects such as a moving robot. In this paper, we report the developed collision avoidance algorithms, along with simulation-based experimental results. The results show that the collision avoidance strategies are effective and useful for making decisions on collision avoidance in multi-robot systems.
引用
收藏
页码:2795 / 2800
页数:6
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