Abstract
Multiple independent robots sharing the workspace need to be able to navigate to their goals while avoiding collisions with each other. In this paper, we describe and evaluate two algorithms for smooth and collision-free navigation for multiple independent differential-drive robots.We extend reciprocal collision avoidance algorithms based on velocity obstacles and on acceleration-velocity obstacles. We implement bothmethods on multiple iRobot Create differential-drive robots, and report on the quality and ability of the robots using the two algorithms to navigate to their goals in a smooth and collision-free manner.
| Original language | English (US) |
|---|---|
| Title of host publication | Experimental Robotics - The 12th International Symposium on Experimental Robotics |
| Editors | Oussama Khatib, Vijay Kumar, Gaurav Sukhatme |
| Publisher | Springer Verlag |
| Pages | 601-613 |
| Number of pages | 13 |
| ISBN (Electronic) | 9783642285714 |
| DOIs | |
| State | Published - 2014 |
| Event | 12th International Symposium on Experimental Robotics, ISER 2010 - New Delhi, Agra, India Duration: Dec 18 2010 → Dec 21 2010 |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 79 |
| ISSN (Print) | 1610-7438 |
| ISSN (Electronic) | 1610-742X |
Other
| Other | 12th International Symposium on Experimental Robotics, ISER 2010 |
|---|---|
| Country/Territory | India |
| City | New Delhi, Agra |
| Period | 12/18/10 → 12/21/10 |
Bibliographical note
Publisher Copyright:© Springer-Verlag Berlin Heidelberg 2014.
