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A laser-based multi-robot collision avoidance approach in unknown environments
Yu, Yingying1,2; Wu, Zhiyong1,2; Cao, Zhiqiang1,2; Pang, Lei1,2; Ren, Liang1,2; Zhou, Chao1,2
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
2018-02-25
Volume15Issue:1Pages:1-10
SubtypeArticle
Abstract

As a fundamental problem, collision avoidance for multiple robots still need further investigation, especially for many robots aggregating in a tight space. In this article, a laser-based collision avoidance approach is proposed in complex multi-robot environments. The laser data is analyzed and processed in terms of distance thresholding, safe passageway analysis, obstacles repulsion, goal position attraction, and inter-robot safety. Specifically, the safe passageway analysis is used to remove unsafe directions effectively, and inter-robot safety processing reduces the possibility of being selected for the directions affected by the neighboring robots. On this basis, an optimized decision is made to guarantee that the robots achieve collision-free motions even in crowded environments. The validity of the proposed approach is verified by simulations.

KeywordLaser-based Collision Avoidance Inter-robot Safety Multiple Robots Unknown Environments
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21970
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yu, Yingying,Wu, Zhiyong,Cao, Zhiqiang,et al. A laser-based multi-robot collision avoidance approach in unknown environments[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):1-10.
APA Yu, Yingying,Wu, Zhiyong,Cao, Zhiqiang,Pang, Lei,Ren, Liang,&Zhou, Chao.(2018).A laser-based multi-robot collision avoidance approach in unknown environments.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1),1-10.
MLA Yu, Yingying,et al."A laser-based multi-robot collision avoidance approach in unknown environments".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018):1-10.
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