A Novel Coordination Scheme Applied to Nonholonomic Mobile Robots

Abstract

The coordinated motion of a group of autonomous mobile robots for the achievement of a goal has been of high interest in the last decade. Previous research has revealed that one of the essential problems in the area is to avoid collision of the robots with obstacles and each other while they still achieve the goal. In this work, we develop a novel coordination scheme for a group of mobile robots and a new online collision avoidance algorithm. Several coordinated tasks have been presented and the proposed scheme is verified by simulations.