A Negotiation-Based Collision Avoidance Scheme for Autonomous Mobile Robots
Autonomous mobile robots become increasingly more popular in many fields to execute tasks instead of human beings. When multiple autonomous mobile robots coexist in an area and move autonomously, how to avoid collision among them is a critical issue. In this paper, a distributed negotiation-based collision avoidance scheme is proposed. With this scheme, mobile robots negotiate with each other when they are about to collide. Based on the negotiation, the robots make the most appropriate decision to avoid collision, and move forward to their own destinations with the least cost. The effectiveness and the efficiency of the proposed scheme are proved by extensive simulations.
KeywordsAutonomous mobile robot Collision avoidance Negotiation
The work is supported in part by the National Natural Science Foundation of China (NSFC) under Grant Nos. 61402513 and 61402494, Guangxi Natural Science Foundation under Grant Nos. 2015GXNSFBA139243 and 2016GXNSFBA380182, and the Scientific Research Foundation of Guangxi University under Grant Nos. XGZ150322 and XGZ141182. The authors would like to thank these sponsors for their generous support.
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