A modification of cooperative collision avoidance for multiple mobile robots using the avoidance circle

摘要

This paper presents a modification of cooperative collision avoidance for multiple mobile robots. The original cooperative collision avoidance technique by Fujimori and co-workers is briefly explained and its drawbacks are shown in the navigation simulation using a simulator of an experimental robot, Pioneer-1. To improve upon the drawbacks, an avoidance circle is introduced and a modified cooperative collision avoidance technique is proposed. The improved performance of the proposed modification is demonstrated by another navigation simulation in which the conditions are the same as those in the simulation using the original technique. For 100 trials using four mobile robots, the number of the successful cases using the original and the modified techniques was 74 and 96 respectively.