Digital Library

of the European Council for Modelling and Simulation



Simulation Study Of Optimal Cooperative Collision Avoidance Between Multiple Robots With Constraints


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.



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.

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