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Method for Collision Avoidance Motion Coordination of Multiple Mobile Robots Using Central Observation  

Ko Nak Yong (조선대 정보 제어계측공학과)
Seo Dong-Jin (조선대 대학원 제어계측공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.4, 2003 , pp. 223-232 More about this Journal
Abstract
This paper presents a new method driving multiple robots to their goal position without collision. Each robot adjusts its motion based on the information on the goal location, velocity, and position of the robot and the velocity and position of the .other robots. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the following factors: the distance from the robot to the other robots, velocity of the robot and the other robots. To implement the concept in moving robot avoidance, relative distance between the robots is derived. Our method combines the relative distance with an artificial potential field method. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, the usual potential field method sometimes fails preventing collision or causes hasty motion, because it initiates avoidance motion later than the proposed method. The proposed method can be used to move robots in a robot soccer team to their appropriate position without collision as fast as possible.
Keywords
relative distance; avoidability measure; multiple robots; motion coordination; artificial potential field;
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