Title :
A Collision Avoidance Algorithm for Two Mobile Robots with Independent Goals in RoadMap
Author :
Yang, Dong-Hoon ; Kwon, Ji-Wook ; Hong, Suk-Kyo
Author_Institution :
Sch. of Electr. & Comput. Eng., Ajou Univ., Suwon
Abstract :
There can be collisions among multiple mobile robots when they move in the same workspace. First, we propose a new roadmap construction algorithm to improve the defects of the skeleton map. Secondly, we propose a decoupled collision avoidance algorithm for multiple mobile robots moving along their paths with independent start and goal configurations in a same workspace. Finally, simulation results are performed to show the effectiveness of the proposed roadmap generation algorithm and collision avoidance algorithm for multiple mobile robots
Keywords :
collision avoidance; mobile robots; collision avoidance algorithm; mobile robot; roadmap construction algorithm; Collision avoidance; Mobile robots; Navigation; Orbital robotics; Road accidents; Robot kinematics; Robot sensing systems; Robotics and automation; Skeleton; Velocity control; Collision avoidance; Mobile robot; Roadmap;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314711
