A laser-based multi-robot collision avoidance approach in unknown environments

A laser-based multi-robot collision avoidance approach in unknown environments

As a fundamental problem, collision avoidance for multiple robots still need further investigation, especially for many robots aggregating in a tight space. In this article, a laser-based collision avoidance approach is proposed in complex multi-robot environments. The laser data is analyzed and pro...

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Main Authors: Yingying Yu, Zhiyong Wu, Zhiqiang Cao, Lei Pang, Liang Ren, Chao Zhou
Format: Article
Language:English
Published: SAGE Publishing 2018-02-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881418759107
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spelling doaj-ac2b83933c1e4b5e8edb430e94ee03652020-11-25T03:34:20ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-02-011510.1177/1729881418759107A laser-based multi-robot collision avoidance approach in unknown environmentsYingying Yu0Zhiyong Wu1Zhiqiang Cao2Lei Pang3Liang Ren4Chao Zhou5 University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, ChinaAs a fundamental problem, collision avoidance for multiple robots still need further investigation, especially for many robots aggregating in a tight space. In this article, a laser-based collision avoidance approach is proposed in complex multi-robot environments. The laser data is analyzed and processed in terms of distance thresholding, safe passageway analysis, obstacles repulsion, goal position attraction, and inter-robot safety. Specifically, the safe passageway analysis is used to remove unsafe directions effectively, and inter-robot safety processing reduces the possibility of being selected for the directions affected by the neighboring robots. On this basis, an optimized decision is made to guarantee that the robots achieve collision-free motions even in crowded environments. The validity of the proposed approach is verified by simulations.https://doi.org/10.1177/1729881418759107
collection DOAJ
language English
format Article
sources DOAJ
author Yingying Yu
Zhiyong Wu
Zhiqiang Cao
Lei Pang
Liang Ren
Chao Zhou
spellingShingle Yingying Yu
Zhiyong Wu
Zhiqiang Cao
Lei Pang
Liang Ren
Chao Zhou
A laser-based multi-robot collision avoidance approach in unknown environments
International Journal of Advanced Robotic Systems
author_facet Yingying Yu
Zhiyong Wu
Zhiqiang Cao
Lei Pang
Liang Ren
Chao Zhou
author_sort Yingying Yu
title A laser-based multi-robot collision avoidance approach in unknown environments
title_short A laser-based multi-robot collision avoidance approach in unknown environments
title_full A laser-based multi-robot collision avoidance approach in unknown environments
title_fullStr A laser-based multi-robot collision avoidance approach in unknown environments
title_full_unstemmed A laser-based multi-robot collision avoidance approach in unknown environments
title_sort laser-based multi-robot collision avoidance approach in unknown environments
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2018-02-01
description As a fundamental problem, collision avoidance for multiple robots still need further investigation, especially for many robots aggregating in a tight space. In this article, a laser-based collision avoidance approach is proposed in complex multi-robot environments. The laser data is analyzed and processed in terms of distance thresholding, safe passageway analysis, obstacles repulsion, goal position attraction, and inter-robot safety. Specifically, the safe passageway analysis is used to remove unsafe directions effectively, and inter-robot safety processing reduces the possibility of being selected for the directions affected by the neighboring robots. On this basis, an optimized decision is made to guarantee that the robots achieve collision-free motions even in crowded environments. The validity of the proposed approach is verified by simulations.
url https://doi.org/10.1177/1729881418759107
work_keys_str_mv AT yingyingyu alaserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT zhiyongwu alaserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT zhiqiangcao alaserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT leipang alaserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT liangren alaserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT chaozhou alaserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT yingyingyu laserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT zhiyongwu laserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT zhiqiangcao laserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT leipang laserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT liangren laserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
AT chaozhou laserbasedmultirobotcollisionavoidanceapproachinunknownenvironments
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