Distributed Multi-robot Coordination Algorithm for Collision Avoidance in Unknown Environments

Aimming at coordination question of multiple robots,this paper presents a distributed coordination algorithm for collision avoidance between robots in unknown environments.This algorithm is based on a distributed bidding model to coordinate the movement of multiple robots.Past assumptions are not used in the coordination algorithm.Both the data error of the sensors and physical size of the robot are taken into account.By adjusting adaptively the bidding time parameter,the efficiency of the algorithm is improved.To overcome the problem of information inconsistency caused by communication delay,a probing method is developed by the prior order.Simulation test is made to prove the feasibility of the algorithm.