Local Collision Avoidance of Multiple Robots Using Avoidability Measure and Relative Distance

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2004, Vol.18 (1), p.132-144
Main Authors: Ko, Nak Yong, Seo, Dong Jin, Kim, Koung Suk
Format: Article
Language:English
Subjects:
Algorithms
Collision avoidance
Driving
Mathematical analysis
Multiple robots
Open spaces
Potential fields
Robot dynamics
Robots
Studies
Task planning (robotics)
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Summary:This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.
ISSN:1738-494X
1226-4865
1976-3824
DOI:10.1007/BF03028798