Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles

Authors:
Jamie Snape;Jur van den Berg;Stephen J. Guy;Dinesh Manocha
Affiliations:
Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC;Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC;Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC;Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

We present an approach for smooth and collision-free navigation of multiple mobile robots amongst each other. Each robot senses its surroundings and acts independently without central coordination or communication with other robots. Our approach uses both the current position and the velocity of other robots to predict their future trajectory in order to avoid collisions. Moreover, our approach is reciprocal and avoids oscillations by explicitly taking into account that the other robots also sense their surroundings and change their trajectories accordingly. We build on prior work related to velocity obstacles and reciprocal velocity obstacles and introduce the concept of hybrid reciprocal velocity obstacles for collision avoidance that takes into account the kinematics of the robots and uncertainty in sensor data. We apply our approach to a set of iRobot Create robots using centralized sensing and show natural, direct, and collision-free navigation in several challenging scenarios.