Distributed Cooperative Obstacle Avoidance for Mobile Robots Using Independent Virtual Center Points

  • Liwei ZhangEmail author
  • Jie Wang
  • Zhibin Lin
  • Lixiong Lin
  • Yanjie Chen
  • Bingwei He


This paper addresses the obstacle avoidance problem of multiple mobile robots. We propose a method to address this problem, using a distributed robotic cooperative obstacle avoidance method with independent virtual center points which are set based on the current state of nearby robots and itself. Mobile robots use two different control modes: an obstacle-free mode, and an obstacle-avoidance mode. The control mode is switched on-line, based on the robot’s states which are shared information. Moreover, there is no limit to the number of mobile robots in the system of the proposed method. A control law is designed to guide the mobile robots to away from potential collisions and avoid congestion with other robots. The stability of the system is proved using a Lyapunov function. The effectiveness of the proposed method is evaluated using simulation studies and also real-world experimental verification. Experimental results show that the proposed method enables mobile robots to not only avoid collision with each other, but also significantly reduces the travel time and travel distance for situations with irregular distributions of multiple robots.


Collision avoidance Virtual center point 


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This work is supported by the National Natural Science Foundation of China (Project No.: 61673115, 61803089), the Natural Science Foundation of Fujian Province, China (Project No.: 2017J01749) and by Program for New Century Excellent Talents in Fujian Province University, China. This work is also partly funded by the German Science Foundation(DFG) and National Science Foundation of China (NSFC) in project Cross Modal Learning under contract Sonderforschungsbereich Transregio 169.

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© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.School of Mechanical Engineering and AutomationFuzhou UniversityFuzhouChina

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