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Optimal cooperative collision avoidance between multiple robots based on Bernstein–Bézier curves

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Title: Optimal cooperative collision avoidance between multiple robots based on Bernstein–Bézier curves
Authors: Škrjanc, Igor1, Klančar, Gregor gregor.klancar@fe.uni-lj.si
Source: Robotics & Autonomous Systems. Jan2010, Vol. 58 Issue 1, p1-9. 9p.
Subjects: Cooperative processing, Mobile robots, Curves, Acceleration (Mechanics), Mathematical models, Nonholonomic dynamical systems
Abstract: Abstract: In this paper a new cooperative collision-avoidance method for multiple, nonholonomic robots based on Bernstein–Bézier curves is presented. The main contribution focuses on an optimal, cooperative, collision avoidance for a multi-robot system where the velocities and accelerations of the mobile robots are constrained and the start and the goal velocity are defined for each robot. The optimal 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 path lengths subjected to the distances between the robots, which should be larger than the minimum distance defined as the safety distance, and subjected to the velocities and accelerations, which should be lower than the maximum allowed for each robot. The model-predictive trajectory tracking is used to drive the robots on the obtained reference paths. The results of the path planning, real experiments and some future work ideas are discussed. [Copyright &y& Elsevier]
Copyright of Robotics & Autonomous Systems is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
An: 45417662
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PubType: Academic Journal
PubTypeId: academicJournal
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  Data: <searchLink fieldCode="DE" term="%22Cooperative+processing%22">Cooperative processing</searchLink><br /><searchLink fieldCode="DE" term="%22Mobile+robots%22">Mobile robots</searchLink><br /><searchLink fieldCode="DE" term="%22Curves%22">Curves</searchLink><br /><searchLink fieldCode="DE" term="%22Acceleration+%28Mechanics%29%22">Acceleration (Mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+models%22">Mathematical models</searchLink><br /><searchLink fieldCode="DE" term="%22Nonholonomic+dynamical+systems%22">Nonholonomic dynamical systems</searchLink>
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  Data: Abstract: In this paper a new cooperative collision-avoidance method for multiple, nonholonomic robots based on Bernstein–Bézier curves is presented. The main contribution focuses on an optimal, cooperative, collision avoidance for a multi-robot system where the velocities and accelerations of the mobile robots are constrained and the start and the goal velocity are defined for each robot. The optimal 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 path lengths subjected to the distances between the robots, which should be larger than the minimum distance defined as the safety distance, and subjected to the velocities and accelerations, which should be lower than the maximum allowed for each robot. The model-predictive trajectory tracking is used to drive the robots on the obtained reference paths. The results of the path planning, real experiments and some future work ideas are discussed. [Copyright &y& Elsevier]
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  Data: <i>Copyright of Robotics & Autonomous Systems is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1016/j.robot.2009.09.003
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      – Code: eng
        Text: English
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        Type: general
      – SubjectFull: Mobile robots
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      – SubjectFull: Curves
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      – SubjectFull: Acceleration (Mechanics)
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      – SubjectFull: Mathematical models
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      – SubjectFull: Nonholonomic dynamical systems
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              Text: Jan2010
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