Roundabout Collision Avoidance for Multiple Robots based on Minimum Enclosing Rectangle (Demonstration)

摘要

This paper describes a novel and dynamic rectangular roundabout (‘rectabout’) collision avoidance system based on Minimum Enclosing Rectangle (MER) paradigm. The approach is fully decentralized maneuver based on equal priority and involves local views. This maneuver is calculated by each robot involved in the possible collision course separately through its own local view. The virtual MER-based rectabout lies in the position of two robots and also is capable of dealing with static obstacles. Simulated demonstrations indicate that rectabout in conjunction with Minimal Predicted Distance (MPD) ensure that all robots remain free of collision, thereby making the procedure well-suited for real-time applications involving a number of independent robots planning routes to their goal destinations.