Reciprocal collision avoidance for multiple car-like robots
@article{AlonsoMora2012ReciprocalCA, title={Reciprocal collision avoidance for multiple car-like robots}, author={Javier Alonso-Mora and Andreas Breitenmoser and Paul A. Beardsley and Roland Y. Siegwart}, journal={2012 IEEE International Conference on Robotics and Automation}, year={2012}, pages={360-366} }
In this paper a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented. The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collision avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles. The underlying principle of the B-ORCA algorithm applies more generally to other…
113 Citations
Generalized Reciprocal Collision Avoidance for Non-holonomic Robots
- Mathematics2019 14th IEEE Conference on Industrial Electronics and Applications (ICIEA)
- 2019
It is shown that reciprocal collision avoidance can be achieved without using any linear approximation as long as the changing ratios fall into such set of linear velocities.
Multi Robot Collision Avoidance with Continuous Curvature Manoeuvres
- Computer ScienceAIR '13
- 2013
The collision cone approach of collision avoidance is modified to the case of multiple robots moving with non-linearly varying velocities and the reactive collision avoidance and goal-reaching could be solved as a constrained optimization problem.
Reciprocal collision avoidance for robots with linear dynamics using LQR-Obstacles
- Computer Science2013 IEEE International Conference on Robotics and Automation
- 2013
The approach defines a protocol for robots to select their control input independently while guaranteeing collision-free motion for all robots, assuming the robots can perfectly observe each other's state.
Reactive collision avoidance for multiple robots by non linear time scaling
- Computer Science52nd IEEE Conference on Decision and Control
- 2013
A “scaled” variant of the collision cone concept which automatically induces distributiveness among robots is presented which allows robots to reactively accelerate/de-accelerate without altering the geometric path.
Collaborative Optimal Reciprocal Collision Avoidance for Mobile Robots
- Business, Computer Science
- 2015
This protocol is inspired from the traffic rules and solves the problem of deadlocks effectively and was tested upon Player-Stage based simulation where deadlocks were avoided successfully.
Cooperative Collision Avoidance for Nonholonomic Robots
- Computer ScienceIEEE Transactions on Robotics
- 2018
The method builds on the concept of reciprocal velocity obstacles and extends it to respect the kinodynamic constraints of the robot and account for a grid-based map representation of the environment and solve an optimization in the space of control velocities with additional constraints.
A Reciprocal Collision Avoidance Algorithm for Nonholonomic Vehicles with Constant Forward Speed
- Computer Science
- 2018
This thesis presents an reciprocal CA algorithm for nonholonomic vehicles with constant speed that considers the reactive nature of other vessels and is designed so that vehicles share the responsibility of avoiding a collision between them in a fair way.
Development of collision avoidance system for multiple autonomous mobile robots
- Computer Science
- 2020
The results showed that the proposed system is able to prevent collision between vehicles with an acceptable success rate.
Model-based collision avoidance for dynamic single- and multi-robot systems: Theory and application in ground and aerial robots
- Computer Science
- 2016
This dissertation solves the collision avoidance problem for singleand multi-robot systems where dynamic effects are significant and develops a stochastic collision avoidance algorithm for a tele-operated unmanned aerial vehicle (UAV) that considers uncertainty in the robot’s dynamics model and the obstacles’ position as measured from sensors.
Collision-Free Kinematics for Redundant Manipulators in Dynamic Scenes using Optimal Reciprocal Velocity Obstacles
- Computer Science, PhysicsArXiv
- 2018
This work presents an efficient method based on particle swarm optimization that can generate collision-free configurations for each redundant manipulator and can be used to compute safe and oscillation-free trajectories in a few milli-seconds.
References
SHOWING 1-10 OF 29 REFERENCES
Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
- PhysicsDARS
- 2010
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.
Reciprocal n-Body Collision Avoidance
- Computer ScienceISRR
- 2009
This paper presents a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace, and derives sufficient conditions for collision-free motion by reducing the problem to solving a low-dimensional linear program.
Reciprocal collision avoidance with acceleration-velocity obstacles
- Computer Science2011 IEEE International Conference on Robotics and Automation
- 2011
This work introduces the acceleration-velocity obstacle (AVO) to let a robot avoid collisions with moving obstacles while obeying acceleration constraints, and extends this concept to reciprocal collision avoidance for multi-robot settings, by letting each robot take half of the responsibility of avoiding pairwise collisions.
Real-time obstacle avoidance for manipulators and mobile robots
- Computer ScienceProceedings. 1985 IEEE International Conference on Robotics and Automation
- 1985
This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Path coordination for multiple mobile robots: a resolution-complete algorithm
- Computer ScienceIEEE Trans. Robotics Autom.
- 2002
A geometry-based approach for multiple mobile robot motion coordination based on a bounding box representation of the obstacles in the so-called coordination diagram that efficiently solves problems involving up to ten robots in worst-case situations and more than 100 robots in practical ones.
Navigating multiple simple-airplanes in 3D workspace
- Computer Science, Physics2010 IEEE International Conference on Robotics and Automation
- 2010
This work extends the model of a simple car to a simple-airplane, which has constraints on speed and steering angle and includes a configuration variable for the altitude, and uses a locally optimal reciprocal collision avoidance scheme that computes the trajectory without any collisions or oscillations for each airplane independently.
Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles
- Computer Science2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
- 2009
This work introduces the concept of hybrid reciprocal velocity obstacles for collision avoidance that takes into account the kinematics of the robots and uncertainty in sensor data and shows natural, direct, and collision-free navigation in several challenging scenarios.
The vector field histogram-fast obstacle avoidance for mobile robots
- Computer ScienceIEEE Trans. Robotics Autom.
- 1991
A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. This method, named the vector field histogram (VFH), permits the detection of unknown…
High-speed navigation using the global dynamic window approach
- Computer ScienceProceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
- 1999
The global dynamic window approach is proposed, which combines methods from motion planning and real-time obstacle avoidance to result in a framework that allows robust execution of high-velocity, goal-directed reactive motion for a mobile robot in unknown and dynamic environments.
Reciprocal Velocity Obstacles for real-time multi-agent navigation
- Computer Science, Mathematics2008 IEEE International Conference on Robotics and Automation
- 2008
This paper applies the "Reciprocal Velocity Obstacle" concept to navigation of hundreds of agents in densely populated environments containing both static and moving obstacles, and shows that real-time and scalable performance is achieved in such challenging scenarios.