Smooth coordination and navigation for multiple differential-drive robots

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

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

11 Scopus citations

Abstract

Multiple independent robots sharing the workspace need to be able to navigate to their goals while avoiding collisions with each other. In this paper, we describe and evaluate two algorithms for smooth and collision-free navigation for multiple independent differential-drive robots.We extend reciprocal collision avoidance algorithms based on velocity obstacles and on acceleration-velocity obstacles. We implement bothmethods on multiple iRobot Create differential-drive robots, and report on the quality and ability of the robots using the two algorithms to navigate to their goals in a smooth and collision-free manner.

Original languageEnglish (US)
Title of host publicationExperimental Robotics - The 12th International Symposium on Experimental Robotics
EditorsOussama Khatib, Vijay Kumar, Gaurav Sukhatme
PublisherSpringer Verlag
Pages601-613
Number of pages13
ISBN (Electronic)9783642285714
DOIs
StatePublished - 2014
Event12th International Symposium on Experimental Robotics, ISER 2010 - New Delhi, Agra, India
Duration: Dec 18 2010Dec 21 2010

Publication series

NameSpringer Tracts in Advanced Robotics
Volume79
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other12th International Symposium on Experimental Robotics, ISER 2010
Country/TerritoryIndia
CityNew Delhi, Agra
Period12/18/1012/21/10

Bibliographical note

Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2014.

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