NDLI: Multi Robot Collision Avoidance with Continuous Curvature Manoeuvres

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Multi Robot Collision Avoidance with Continuous Curvature Manoeuvres

Content Provider	ACM Digital Library
Author	Parekh, Tejas Singh, Arun Kumar Krishna, K. Madhava
Abstract	In this paper, we address the problem of reactive collision avoidance among multiple robots. However we impose the constraint of continuous curvature on the collision avoidance manoeuvre which adds to the complexity of the problem but is necessary for realistic implementation of collision avoidance among multiple non-holonomic robots like tricycles and car-like. Since these non-holonomic robots cannot execute point-turn motion, performing collision avoidance with these robots while maintaining curvature continuity becomes a very challenging problem. Hence the proposed work comes as an enhancement over the existing reactive collision avoidance frameworks which completely neglect the above aspects. We modify the collision cone approach of collision avoidance to the case of multiple robots moving with non-linearly varying velocities. This is done by approximating the vehicle evolution with a smooth function represented as a linear combination of orthogonal basis functions and writing the collision avoidance condition as analytical function with respect to time. As a direct consequence of that, the reactive collision avoidance and goal-reaching could be solved as a constrained optimization problem. The theory is substantiated by extensive simulations for various bench-mark cases.
Starting Page	1
Ending Page	6
Page Count	6
File Format	PDF
ISBN	9781450323475
DOI	10.1145/2506095.2506117
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2013-07-04
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Multi-robot systems Collision avoidance Robot coordination
Content Type	Text
Resource Type	Article

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