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http://dx.doi.org/10.5302/J.ICROS.2006.12.7.700

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

Yang Dong-Hoon (아주대학교 전자공학부)
Hong Suk-Kyo (아주대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.7, 2006 , pp. 700-705 More about this Journal
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
mobile robot; path planning; skeleton map; collision avoidance;
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