On-line collision avoidance for multi-robot systems: a new solution considering the robots' dynamics

摘要

With the use of multi-robot-systems new chances and perspectives are revealed for industrial, space- and underwater-applications. A versatile multi-robot-control, which fully exploits the inherent flexibility of a multi-robot-system, guarantees optimized system-throughput and increases system-autonomy significantly. On the other hand, the flexible use of multi-robot-systems requires new methodologies to ensure safe and collision-free movement of the controlled robots, the "intelligence" of the implemented security measures must keep up with the increase of autonomy of the robotic system. The new method CARE (collision avoidance in realtime environments), that is presented in this paper, is such a new security methodology. It anticipates collision-danger between robots and robots and their environment and it actively avoids a collision by changing the predetermined path of the endangered robots in realtime. The planning of evasive actions is performed under consideration of statical and dynamic constraints of the robots' movements and of task-specific constraints.