Collision-Free Path Planning Algorithm for Group of Robots in Spatio-Situational Uncertainty
In the process of robots paths planning potential collisions of trajectories occur which can be identified and avoided. In case of spatio-situational uncertainty, collision solution can be repeated, with collisions appearing and disappearing. In highly dynamic environment, the more time past since t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
FRUCT
2017-11-01
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| Series: | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| Subjects: | |
| Online Access: | https://fruct.org/publications/abstract21/files/Mot.pdf
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| Summary: | In the process of robots paths planning potential collisions of trajectories occur which can be identified and avoided. In case of spatio-situational uncertainty, collision solution can be repeated, with collisions appearing and disappearing. In highly dynamic environment, the more time past since the last collision the lower probability of its re-occurrence. The paper presents the study of the minimum range of the individual robot collision avoidance for a group of robots under condition of spatio-situational uncertainty. The results have been applied to develop an adaptive collision avoidance algorithm. The model of environment and movement of robots are used to determine the range of the collision avoidance. The collisions repeating from step to step, allowed calculating the range of the collision avoidance with respect to environmental change frequencies. The adaptive algorithm for collision avoidance was designed to research effectiveness of the selected ranges. Authors also compared the systems without algorithm, with adaptive range and with fixed coefficients. The effectiveness/efficiency was evaluated by comparing results of modeling two systems without an adaptive algorithm and with it by call of the collision avoidance algorithm. |
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| ISSN: | 2305-7254 2343-0737 |