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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Reciprocal n-Body Collision Avoidance
verfasst von : Jur van den Berg, Stephen J. Guy, Ming Lin, Dinesh Manocha
Erschienen in: Robotics Research
Verlag: Springer Berlin Heidelberg
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In this paper, we present 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. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles [5], we derive sufficient conditions for collision-free motion by reducing the problem to solving a low-dimensional linear program. We test our approach on several dense and complex simulation scenarios involving thousands of robots and compute collision-free actions for all of them in only a few milliseconds. To the best of our knowledge, this method is the first that can guarantee local collision-free motion for a large number of robots in a cluttered workspace.