Simulation Study Of Optimal Cooperative Collision Avoidance Between Multiple Robots With Constraints

Abstract

In this paper a new cooperative collisionavoidance method for multiple nonholonomic robots with constraints and known start and goal velocities based on BernsteinBezier curves is presented. In the simulation example the velocities of the mobile robots are constrained and the start and the goal velocity are defined for each robot. This means that the proposed method can be used as subroutine in a huge path-planning problem in the real time, in a way to split the whole path in smaller partial paths. The reference path of each robot from the start pose to the goal pose, is obtained by minimizing the penalty function, which takes into account the sum of all the paths subjected to the distances between the robots, which should be bigger than the minimal distance defined as the safety distance, and subjected to the velocities which should be lower than the maximal allowed velocities of each robot. When the reference paths are defined one of the trajectory tracking control algorithms should be used to define the control. The simulation results of the path planning algorithm and some future work ideas are discussed.