An algorithm for multi-robot collision-free navigation based on shortest distance

This paper presents a new approach for multi-robot navigation in dynamic environments, called the shortest distance algorithm. This approach uses both the current position and orientation of other robots to compute the collision free trajectory. The algorithm suggested in this paper is based on the concept of reciprocal orientation that guarantees smooth trajectories and collision free paths. All the robots move either in a straight line or in a circular arc using the Bresenham algorithms. The current approach is tested on three simulation scenarios. A new algorithm for collision-free multi-robot navigation is introduced.The new algorithm is based on shortest distance algorithm.It is particularly efficient and easy to implement.Comparison with previously discussed algorithms on different standard scenarios is presented.

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