Generalized Reciprocal Collision Avoidance for Non-holonomic Robots

摘要

It is challenging to study generalized reciprocal collision avoidance for non-holonomic robots, especially when angular velocities are required to be tuned. This paper investigates the reciprocal collision avoidance problem for non-holonomic robotics. Two strategies to adjust the linear and the angular velocities of robots are respectively, presented where the collision-free navigation is characterized as an analytical set of the changing ratios of linear velocities. It is shown that reciprocal collision avoidance can be achieved without using any linear approximation as long as the changing ratios fall into such set. The adjustment of the linear velocity has a priority to that of orientation such that the navigation efficiency of robots is maintained. Simulation results for some typical cases are presented to verify the effectiveness of the proposed algorithm.