Decentralized & prioritized Navigation and Collision Avoidance for Multiple Mobile Robots
نویسندگان
چکیده
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 behind each robot, introducing implicit priorities resembling “rules of the road”. Static and moving obstacles are taken into account, as well as malfunctioning robots. A decentralised feedback control law based on the gradient of the potential field ensures convergence and collision avoidance for all robots, while respecting a lower speed bound. Simulation results demonstrate the efficacy of the proposed algorithm.
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