Collision Avoidance Using Communication between Autonomous Mobile Robots
Collision Avoidance Using Communication between Autonomous Mobile Robots
复制标题
利用自主移动机器人之间的通信避免碰撞
DOI：
10.20965/jrm.1996.p0459
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
I. Endo
中科院分区：
文献类型：
--
作者：
K. Ozaki;H. Asama;Y. Ishida;A. Matsumoto;I. Endo
提出了一种基于分层策略的多移动的机器人相互碰撞避免方法。该策略提供了多个层次的静态运动生成和动态运动生成，并根据情况的复杂程度选择合适的动态运动生成层次进行相互避碰。在分层策略中，我们实现了两种典型的方法，即基于规则的局部碰撞避免和基于协商的全局碰撞避免。在每种方法中，机器人检测碰撞并尽可能地应用本地方法。实验结果表明，两个实际的移动的机器人可以实现相互避碰基于分层策略。
This paper addresses mutual collision avoidance between multiple mobile robots based on a layered strategy. In this strategy, static motion generation and dynamic motion generation of several levels are provided, and a proper level of dynamic motion generation is selected for mutual collision avoidance according to the complexity of the situation. We have implemented two typical methods in the layered strategy, which are rule-based local collision avoidance and negotiation-based global one using communication. In each method, a robot detects collision and applies as a local method as possible. Experimental results show two actual mobile robots can achieve mutual collision avoidance based on the layered strategy.