Collision avoidance among multiple autonomous mobile robots using LOCISS (locally communicable infrared sensory system)

摘要

Collision avoidance is an essential problem for applications of multiple mobile robots. The authors have proposed new sensor system called LOCISS (Locally Communicable Infrared Sensory System) to detect robots and obstacles using infrared local communication. Robots mounting LOCISS can exchange useful information for collision avoidance such as speed and moving direction. In this paper, a set of rules for collision avoidance among multiple autonomous mobile robots using LOCISS is proposed. Each robot mutually carries out collision avoidance using the proposed rule. The validity of this set of rules is shown through a series of experiments using mobile robots.