Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Collision Avoidance Algorithm for Two Mobile Robots with Independent Goals in Skeleton Map

골격지도에서 개별 목표를 갖는 두 이동로봇의 충돌 회피 알고리즘

  • 양동훈 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • Published : 2006.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a collision avoidance algorithm for two mobile robots with independent goals in a same workspace. Using skeleton map, an environment is presented as a graph consisting of nodes and arcs. Robots generate the shortest set of paths using the combination of objective functions of the two robots. Path for collision avoidance of a robot can be selected among three class; the shortest path, detour, paths with a waiting time at safety points around crossing points. Simulation results are presented to verify the efficiency of the proposed algorithms.

Keywords

References

  1. J. C. Latombe, Robot Motion Planning, Kluwer, 1991
  2. J. Barraquand and J. C. Latombe, 'Robot motion planning: A distributed representation approach,' Int. J. Robot. Res., vol. 10, no. 6, pp. 628-649, December 1991 https://doi.org/10.1177/027836499101000604
  3. E. Erdmann and T. Lozano-Perez, 'On multiple moving objects,' Proc. of the IEEE Int. Conf. Robotics and Automation, pp. 1419-1424, 1986
  4. P. A. O'Donnell and T. Lozano-Perez, 'Deadlock-free and collision-free coordination of two robot manipulators,' Proc. of the IEEE Int. Conf. Robotics and Automation, pp. 484-489, 1989 https://doi.org/10.1109/ROBOT.1989.100033
  5. 김종환, 로봇축구시스템. 대영사, 2000
  6. R. Alami, 'Multi-robot cooperation through incremental planmerging,' Proc. of the IEEE Int. Conf. Robotics and Automation. pp. 2573-2579, 1995
  7. K. Azarm and G. Schmidt, 'Conflict-free motion of multiple mobile robots based on decentralized motion planning and negotiation,' Proc. of the IEEE Int. Conf. Robotics and Automation, pp. 3526-3533 1997 https://doi.org/10.1109/ROBOT.1997.606881
  8. H. Takahashi, H. Nishi, and K. Ohnishi, 'Autonomous decentralized control for formation of multiple mobile robots considering ability of robot,' IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1272-1279, December, 2004 https://doi.org/10.1109/TIE.2004.837848
  9. A. Yamashita, T. Arai, 1. ala, and H. Asama, 'Motion planning of multiple mobile robots for cooperative manipulation and transportation,' IEEE Trans. on Robotics and Automation, vol. 19, no. 2, pp. 223-237, Apri., 2003 https://doi.org/10.1109/TRA.2003.809592
  10. G. Sanchez and J. C. La:ombe, 'Using a PRM planner to compare centralized and decoupled planning for multi-robot systems,' Proc. of the IEEE Int. Conf. Robotics and Automation, pp. 2112-2119, 2002 https://doi.org/10.1109/ROBOT.2002.1014852
  11. S. M. LaValle and S. A. Hutchinson, 'Optimal motion planning for multiple robots having independent goals,' IEEE Trans. on Robotics and Automation, vol. 14, no. 6, pp. 912-925, December 1998 https://doi.org/10.1109/70.736775
  12. R. Ghrist, J. M. O'Kane, end S. M. LaValle, 'Pareto optimal coordination on roadmaps,' Proc. of Workshop on Algorithmic Foundations of Robotics, pp. 185-200, 2004
  13. J. Baber, J. Kolodko, T. Noel, M. Parent, and L. V1acic, 'Cooperative autonomous driving: Intelligent vehicles sharing city roads,' IEEE Robotics and Automation Magazine, pp. 44-49, March, 2005 https://doi.org/10.1109/MRA.2005.1411418
  14. D. P. Bertsekas, 'Dynamic programming and optimal control,' Athena Scientific, 2001