Collision avoidance in a multiple robot set up by polytree intersection method

In this research, we propose a new obstacle avoidance algorithm in which collision-free path for a robot is determined when a set of multiple robots are present in the workspace. The proposed obstacle avoidance algorithm is developed based upon the geometric modeling of the robot workspace using polytree data structure. Polytree is a hierarchical bisection of either a two-dimensional region or a three-dimensional space, based on some specific splitting rules. Our algorithm finds possible intersection between any configuration of a moving robot and the obstacles in the workspace by parallel traversal of integrated polytrees