DocumentCode
3344328
Title
Smooth and collision-free navigation for multiple robots under differential-drive constraints
Author
Snape, Jamie ; Van den Berg, Jur ; Guy, Stephen J. ; Manocha, Dinesh
Author_Institution
Dept. of Comput. Sci., Univ. of North Carolina at Chapel Hill, Chapel Hill, NC, USA
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
4584
Lastpage
4589
Abstract
We present a method for smooth and collision-free navigation for multiple independent robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal collision avoidance formulation and guarantees both smoothness in the trajectories of the robots and locally collision-free paths. We provide proofs of these guarantees and demonstrate the effectiveness of our method in experimental scenarios using iRobot Create mobile robots navigating amongst each other.
Keywords
collision avoidance; mobile robots; multi-robot systems; collision-free navigation; differential-drive constraint; irobot create mobile robots; multiple independent robots; optimal reciprocal collision avoidance; smoothness;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5652073
Filename
5652073
Link To Document