Abstract
In this paper an optimalmethod for distributed collision avoidance among multiple non-holonomic robots is presented in theory and experiments. Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non-holonomic constraints. Optimal control inputs and constraints in velocity space are formally derived for the non-holonomic robots. The theoretical results are validated in several collision avoidance experiments with up to fourteen e-puck robots set on collision course. Even in scenarios with very crowded situations, NH-ORCA showed to be collision-free for all times.
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Alonso-Mora, J., Breitenmoser, A., Rufli, M., Beardsley, P., Siegwart, R. (2013). Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots. In: Martinoli, A., et al. Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32723-0_15
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DOI: https://doi.org/10.1007/978-3-642-32723-0_15
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