A METHOD OF COLLISION AVOIDANCE PLANNING FOR MULTI-ROBOTS IN DYNAMIC ENVIRONMENT

摘要

The paper proposes a new method of collision avoidance planning for multi-robots in dynamic environment where multiple obstacles are moving around. It realizes the collision avoidance in multi-robot system based on the grid-type environment representation and the obstacle map. The method has a low complexity and good real-time performance. Some experiments in robotic soccer domain prove the effectiveness and correctiveness of the method.