Navigation of multiple mobile robots with cooperative collision avoidance

Abstract

This paper presents a new collision avoidance technique, called cooperative collision avoidance, for multiple mobile robots. The detection of the danger of collision between two mobile robots is discussed with respect to the geometric aspects of their paths as are cooperative collision avoidance behaviors. The proposed cooperative collision avoidance between two mobile robots is then extended to cases in which the number of mobile robots is greater than two. The effectiveness of the proposed technique was demonstrated by numerical simulation examples.