Obstacle avoidance for mobile robots based on relative coordinates

摘要

This paper describes a novel obstacles avoidance method for mobile robots; based on relative coordinates; that is, we describe a method whereby each robot may determine the pose of others relative to itself. This method does not require GPS, landmarks, or any kind of environment model. Instead, robots make direct measurements of the relative pose of nearby robots, predict the danger field by the collision cone between the relative velocity of robot with respect to obstacles and the LOS (line-of-sight), and adjust the varieties of robot's velocity and direction real time and dynamically in acceleration space. The simulation results verify the efficiency of the method.