A Collision Avoidance Algorithm for Two Mobile Robots with Independent Goals in RoadMap

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