Collaborative Optimal Reciprocal Collision Avoidance for Mobile Robots

摘要

Avoiding collision is one of the major research fields in mobile robotics. Various researchers around the globe are working on static and dynamic collision avoidance algorithms. One such algorithm is the Optimal Reciprocal Collision Avoidance that deals with multiple robots moving in a joint space without causing collision, that also without communicating and without centralized processing. This algorithm is very effective in handling collision avoidance. However, the problem of deadlock often appears when the robots have to navigate through densely crowded environments in joint space. The aim is to move robots in a small joint space and achieve collision avoidance without facing deadlocks. For this purpose we have extended this protocol into Collaborative Optimal Reciprocal Collision Avoidance to solve the problem of deadlocks. The protocol is inspired from the traffic rules and solves the problem of deadlocks effectively. The protocol was tested upon Player-Stage based simulation where deadlocks were avoided successfully.