A Human-Inspired Collision Avoidance Method for Multi-robot and Mobile Autonomous Robots
In this paper a novel and dynamic rectangular roundabout (‘rectabout’) collision avoidance method based on human behaviour is presented for multiple, homogeneous, autonomous and mobile robots. The approach does not depend on priority schemes and instead involves only local views. There is therefore no need for inter-robot communication. The decentralized collision avoidance maneuver employs a virtual rectabout that allows each robot to re-plan its path. This maneuver is calculated independently by each robot involved in the possible collision. The virtual rectabout lies in the intersecting and conflicting position of two robot routes. Experimental simulations involving multi-robot systems indicate that virtual rectabouts ensure that all robots remain free of collision while attempting to follow their goal direction. Comparisons with a centralized collision detection and avoidance approach demonstrate no additional move costs. However, the advantages of rectabouts are that no inter-robot communication or centralized coordination is required, thereby cutting down significantly on communication and coordination overheads.
KeywordsRectangular Roundabout Decentralized Collision Avoidance Minimum Enclosing Rectangle
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