Title :
An analysis of the reciprocal robots collision avoidance
Author :
Fratu, Aurel ; Ilea, Danut
Author_Institution :
Transilvania Univ. of Brasov, Brasov, Romania
Abstract :
This paper, presents a formal approach that addresses the reciprocal robots collision avoidance, where two robots need to avoid collisions one with each other while moving in a common workspace. Based on our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles, we derive sufficient conditions for collision-free motion. We tested the present approach on several complex simulation scenarios involving two virtual robots and estimating collision-free actions for each of them during of the cooperative tasks. The focus of this paper is the fundamental problem of interference detection between two virtual robots and behavioral simulation of the robots for computer animation.
Keywords :
collision avoidance; computer animation; control engineering computing; mobile robots; behavioral simulation; collision-free motion; complex simulation scenarios; computer animation; cooperative tasks; formal approach; interference detection; reciprocal robots collision avoidance; velocity obstacles; virtual robots; Algorithm design and analysis; Collision avoidance; Computational modeling; Robot kinematics; Robot sensing systems; Solid modeling; Animation; Collision Detection; Computer Simulation; Dynamic Simulation; Virtual Robots;
Conference_Titel :
Optimization of Electrical and Electronic Equipment (OPTIM), 2012 13th International Conference on
Conference_Location :
Brasov
Print_ISBN :
978-1-4673-1650-7
Electronic_ISBN :
1842-0133
DOI :
10.1109/OPTIM.2012.6231978