《Reciprocal Collision Avoidance for》.pdfVIP

Reciprocal Collision Avoidance for Multiple Car-like Robots Javier Alonso-Mora, Andreas Breitenmoser, Paul Beardsley and Roland Siegwart Abstract— In this paper a method for distributed reciprocal dynamic scenarios has also been studied, with a great interest collision avoidance among multiple non-holonomic robots with in navigation among humans [9]. A successful approach for bike kinematics is presented. The proposed algorithm, bicycle this kind of scenarios based on a dynamic window was reciprocal collision avoidance B-ORCA , builds on the concept of optimal reciprocal collision avoidance ORCA for holonomic proposed in [10]. robots but furthermore guarantees collision-free motions under Our approach builds on Optimal Reciprocal Collision the kinematic constraints of car-like vehicles. The underlying Avoidance ORCA [11] for holonomic robots and extends principle of the B-ORCA algorithm applies more generally to it to robots with car-like kinematics by using a trajectory other kinematic models, as it combines velocity obstacles with tracking control [12], which is speci?c for this type of kine- generic tracking control. The theoretical results on collision avoidance are validated by several simulation experiments matics. However, the concepts here proposed apply to other between multiple car-like robots. kinematic models in general since the trajectory tracking controller is seen as a module that can be replaced to adapt I. INTRODUCTION AND RELATED WORK the collision avoidance method to the particular kinematics of In this paper, a novel collision avoidance strategy for a other systems. ORCA is a collaborative collision avoidance group of car-like robots is presented. Various application method based on velocity obstacles, where each holonomic areas throughout research and industry have seen an ever- robot makes