Collision avoidance among multiple autonomous mobile robots using LOCISS (locally communicable infrared sensory system)

Author

Arai, Yoshikazu ; Suzuki, Shoji ; Kotosaka, Shinya ; Asama, Hajime ; Kaetsu, Hayato ; Endo, Isao

Author_Institution

Graduate Sch. of Sci. & Eng., Saitama Univ., Urawa, Japan

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2091

Abstract

Collision avoidance is an essential problem for applications of multiple mobile robots. The authors have proposed new sensor system called LOCISS (Locally Communicable Infrared Sensory System) to detect robots and obstacles using infrared local communication. Robots mounting LOCISS can exchange useful information for collision avoidance such as speed and moving direction. In this paper, a set of rules for collision avoidance among multiple autonomous mobile robots using LOCISS is proposed. Each robot mutually carries out collision avoidance using the proposed rule. The validity of this set of rules is shown through a series of experiments using mobile robots

Keywords

cooperative systems; mobile robots; optical communication; path planning; sensors; LOCISS; collision avoidance; locally communicable infrared sensory system; multiple autonomous mobile robots; Collision avoidance; Educational institutions; Infrared sensors; Mechanical engineering; Mobile communication; Mobile robots; Motion detection; Optical computing; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506179

Filename

506179