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Digital Library of the
European Council for Modelling and Simulation |
Title: |
Simulation Study Of Optimal Cooperative Collision Avoidance Between
Multiple Robots With Constraints |
Authors: |
Igor Škrjanc, Gregor Klančar |
Published in: |
ECMS
2007 Proceedings Edited
by: Ivan Zelinka, Zuzana Oplatkova, Alessandra Orsoni ISBN:
978-0-9553018-2-7 Doi: 10.7148/2007 21st European
Conference on Modelling and Simulation, Prague, June
4-6, 2007 |
Citation
format: |
Skrjanc, I., & Klancar,
G. (2007). Simulation Study Of Optimal Cooperative Collision Avoidance
Between Multiple Robots With Constraints. ECMS 2007 Proceedings edited by: I.
Zelinka, Z. Oplatkova, A. Orsoni (pp. 405-409).
European Council for Modeling and Simulation. doi:10.7148/2007-0405. |
DOI: |
http://dx.doi.org/10.7148/2007-0405 |
Abstract: |
In this paper a new cooperative collision-
avoidance method for multiple nonholonomic robots
with constraints and known start and goal velocities based on Bernstein- Be ́zier curves is presented. In the simulation example the
velocities of the mobile robots are constrained and the start and the goal
velocity are defined for each robot. This means that the proposed method can
be used as subroutine in a huge path-planning problem in the real time, in a
way to split the whole path in smaller partial paths. The reference path of
each robot from the start pose to the goal pose, is obtained by minimizing
the penalty function, which takes into account the sum of all the paths
subjected to the distances between the robots, which should be bigger than
the minimal distance defined as the safety distance, and subjected to the
velocities which should be lower than the maximal allowed velocities of each
robot. When the reference paths are defined one of the trajectory tracking
control algorithms should be used to define the control. The simulation
results of the path planning algorithm and some future work ideas are
discussed. |
Full
text: |