Decentralized Multi-robot Collision Avoidance Algorithm Based on RSSI

Abstract

Optimal path planning has always been a key issue in multi-robot research. One of the most important issues is how to use appropriate methods to resolve path collision between multiple robots, which is usually converted into an optimization problem of time and space. This paper solves the problem of path collision at intersections between robots based on the change of RSSI value. First, a fixed priority collision avoidance algorithm based on the robot number is proposed. In order to improve this algorithm, a binary sequence priority collision avoidance algorithm is proposed. In Webots Robot Simulator, self-build robots are used to implement the proposed algorithm.