TY - GEN
T1 - Reciprocal collision avoidance with acceleration-velocity obstacles
AU - Van Den Berg, Jur
AU - Snape, Jamie
AU - Guy, Stephen J.
AU - Manocha, Dinesh
PY - 2011/12/1
Y1 - 2011/12/1
N2 - We present an approach for collision avoidance for mobile robots that takes into account acceleration constraints. We discuss both the case of navigating a single robot among moving obstacles, and the case of multiple robots reciprocally avoiding collisions with each other while navigating a common workspace. Inspired by the concept of velocity obstacles [3], we introduce the acceleration-velocity obstacle (AVO) to let a robot avoid collisions with moving obstacles while obeying acceleration constraints. AVO characterizes the set of new velocities the robot can safely reach and adopt using proportional control of the acceleration. We extend this concept to reciprocal collision avoidance for multi-robot settings, by letting each robot take half of the responsibility of avoiding pairwise collisions. Our formulation guarantees collision-free navigation even as the robots act independently and simultaneously, without coordination. Our approach is designed for holonomic robots, but can also be applied to kinematically constrained non-holonomic robots such as cars. We have implemented our approach, and we show simulation results in challenging environments with large numbers of robots and obstacles.
AB - We present an approach for collision avoidance for mobile robots that takes into account acceleration constraints. We discuss both the case of navigating a single robot among moving obstacles, and the case of multiple robots reciprocally avoiding collisions with each other while navigating a common workspace. Inspired by the concept of velocity obstacles [3], we introduce the acceleration-velocity obstacle (AVO) to let a robot avoid collisions with moving obstacles while obeying acceleration constraints. AVO characterizes the set of new velocities the robot can safely reach and adopt using proportional control of the acceleration. We extend this concept to reciprocal collision avoidance for multi-robot settings, by letting each robot take half of the responsibility of avoiding pairwise collisions. Our formulation guarantees collision-free navigation even as the robots act independently and simultaneously, without coordination. Our approach is designed for holonomic robots, but can also be applied to kinematically constrained non-holonomic robots such as cars. We have implemented our approach, and we show simulation results in challenging environments with large numbers of robots and obstacles.
UR - http://www.scopus.com/inward/record.url?scp=84865686593&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2011.5980408
DO - 10.1109/ICRA.2011.5980408
M3 - Conference contribution
AN - SCOPUS:84865686593
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3475
EP - 3482
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -