Collision-avoidance mechanism of multi agent system

摘要

This paper mainly concentrates on obstacle avoidance of multi robot system in 2-D environment. An efficient and practical collision-avoidance mechanism is developed for multi agent system. The collision-avoidance mechanism is used in combination with a cooperation mechanism to accomplish an complicated task. Based on the problem of "the tower of babel", some obstacles are added in the environment, the agents must reach their destination without colliding with the obstacles and other agents. A typical kind of multi robot system is studied in this paper, and problem of collision-avoidance in multi robot system is discussed. Our purpose is to study a practical and efficient obstacle avoidance method under central control mode, which has been proved effective through simulation experiments results, and this obstacle avoidance method can solve the problem of "deadlock" to a satisfying extent.