Improved velocity obstacles-based collision avoidance algorithm for multiple mobile robots

摘要

The dynamic avoiding collision of multiple mobile robots is studied.Based on the analysis of the principle of velocity obstacles,it designs the interactive velocity methods and defines the collision time and collision distance factor to adjust configuration obstacles,the mobile obstacles,multi-step planning window under dynamic constraints and the goal point are mapped in a new set velocity variation space.Furthermore,in the velocity variation space,it translates the multi-robot dynamic collision avoidance problem into an optimization problem with a new objective function,and the corresponding dynamic collision avoidance arithmetic is designed.Simulation results show that this method is effective to overcome the impact of conflict,achieve an effective coordination and control between multi-robots,and improve the tracking of fast moving targets.