DocumentCode :
2417500
Title :
Reciprocal collision avoidance for multiple car-like robots
Author :
Alonso-Mora, Javier ; Breitenmoser, Andreas ; Beardsley, Paul ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
360
Lastpage :
366
Abstract :
In this paper a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented. The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collision avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles. The underlying principle of the B-ORCA algorithm applies more generally to other kinematic models, as it combines velocity obstacles with generic tracking control. The theoretical results on collision avoidance are validated by several simulation experiments between multiple car-like robots.
Keywords :
collision avoidance; mobile robots; motion control; multi-robot systems; road vehicles; robot kinematics; bicycle reciprocal collision avoidance; car-like vehicle; collision-free motion; distributed reciprocal collision avoidance; generic tracking control; kinematic constraints; multiple car-like robots; multiple nonholonomic robot; optimal reciprocal collision avoidance; velocity obstacle; Collision avoidance; Kinematics; Robot kinematics; Tracking; Trajectory; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6225166
Filename :
6225166
Link To Document :
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