Distributed Multi-robot Collision Avoidance Using the Voronoi-based Method

摘要

Abstract Collision avoidance is a fundamental problem in multi-robot motion planning, enabling robots to coordinate in a safe and efficient manner. In this paper, we introduce several best-known distributed collision avoidance algorithms and present the Voronoi-based method in detail, which assigns optimal dominance regions for robots using the Voronoi diagram, constrains robot motions within the buffered Voronoi diagram, and follows right-hand rule when deadlock happens during navigating to the goals. A series of simulations are conducted to demonstrate the efficacy of collision avoidance guarantee under robot localization uncertainty while avoiding deadlock using our presented algorithm. We claim that such a method is superior to most of the existing distribution methods in a known environment in efficiency of implementation.