Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots

In this paper an optimal method for distributed collision avoidance among multiple non-holonomic robots is presented in theory and experiments. Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non-holonomic constraints. Optimal control inputs and constraints in velocity space are formally derived for the non-holonomic robots. The theoretical results are validated in several collision avoidance experiments with up to fourteen e-puck robots set on collision course. Even in scenarios with very crowded situations, NH-ORCA showed to be collision-free for all times.

[1]  Yoram Koren,et al.  The vector field histogram-fast obstacle avoidance for mobile robots , 1991, IEEE Trans. Robotics Autom..

[2]  Dinesh Manocha,et al.  Generalized velocity obstacles , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  R. Olfati-Saber,et al.  Collision avoidance for multiple agent systems , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[4]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[5]  Dinesh Manocha,et al.  Reciprocal Velocity Obstacles for real-time multi-agent navigation , 2008, 2008 IEEE International Conference on Robotics and Automation.

[6]  Dinesh Manocha,et al.  Reciprocal n-Body Collision Avoidance , 2011, ISRR.

[7]  Dinesh Manocha,et al.  Smooth and collision-free navigation for multiple robots under differential-drive constraints , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Thierry Siméon,et al.  Path coordination for multiple mobile robots: a resolution-complete algorithm , 2002, IEEE Trans. Robotics Autom..

[9]  Dinesh Manocha,et al.  ClearPath: highly parallel collision avoidance for multi-agent simulation , 2009, SCA '09.

[10]  Devin J. Balkcom,et al.  Time Optimal Trajectories for Bounded Velocity Differential Drive Vehicles , 2002, Int. J. Robotics Res..

[11]  Kristi A. Morgansen,et al.  Decentralized reactive collision avoidance for multivehicle systems , 2008, 2008 47th IEEE Conference on Decision and Control.

[12]  Paolo Fiorini,et al.  Motion Planning in Dynamic Environments Using Velocity Obstacles , 1998, Int. J. Robotics Res..

[13]  Mark W. Spong,et al.  Cooperative Avoidance Control for Multiagent Systems , 2007 .

[14]  Francesco Mondada,et al.  The e-puck, a Robot Designed for Education in Engineering , 2009 .

[15]  Dinesh Manocha,et al.  Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.