Collision Avoidance among Multiple Mobile Robots

Cooperative collision avoidance between multiple mobile robots

This paper presents a new collision avoidance technique, called cooperative collision avoidance, for multiple mobile robots. The detection of the danger of collision between two mobile robots is discussed with respect to the geometric aspects of their paths as are cooperative collision avoidance behaviors. The direction control command and the velocity control command for the cooperative collis...

Decentralized & prioritized Navigation and Collision Avoidance for Multiple Mobile Robots

We present an algorithm for decentralised navigation of multiple mobile robots. Completely decentralised Navigation functions build a potential field for each robot that is employed in a feedback control law. The potential field incorporates limited sensing and explicit prioritisation. A non-circular sensing area creates asymmetrical sensing by reducing the influence of robots and obstacles beh...

Collision and Turnover Avoidance of Mobile Robots with Force Reflection

Collision and turnover are fatal to mobile robots. Control methods are suggested for solving the fatal problems of mobile robots maneuvered by an operator. Speed reduction and wall following are applied for collision avoidance using ultrasonic sensor data. Modified Hough transform is suggested to obtain a wall model from sonar data overcoming limitations of ultrasonic sensors. The robot is also...

A Hybrid Collision Avoidance Method for Mobile Robots

This paper proposes a hybrid approach to the problem of collision avoidance for indoor mobile robots. The DWA (short for: model-based dynamic window approach) integrates sensor data from various sensors with information extracted from a map of the environment, to generate collision-free motion. A novel integration rule ensures that with high likelihood, the robot avoids collisions with obstacle...

Survey of collision avoidance and ranging sensors for mobile robots