Smooth and collision-free navigation for multiple robots under differential-drive constraints

Jamie Snape, Jur Van Den Berg, Stephen J. Guy, Dinesh Manocha

Research output: Chapter in Book/Report/Conference proceedingConference contribution

57 Scopus citations

Abstract

We present a method for smooth and collision-free navigation for multiple independent robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal collision avoidance formulation and guarantees both smoothness in the trajectories of the robots and locally collision-free paths. We provide proofs of these guarantees and demonstrate the effectiveness of our method in experimental scenarios using iRobot Create mobile robots navigating amongst each other.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4584-4589
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

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