Paper:
Collision Avoidance Using Communication between Autonomous Mobile Robots
Koichi Ozaki*, Hajime Asama**, Yoshiki Ishida***,
Akihiro Matsumoto****, and Isao Endo**
*Facurity of Engineering , Utsunomiya University, 2753 Ishii-cho, Utsunomiya, Tochigi, 321, Japan
**The Institute of Physical and Chemical Research (RIKEN), 2-1, Hirosawa, Wako, Saitama, 351-01, Japan
***Computer Center, Kyushu University, 6-10-1, Hakozaki, Higashi-ku, Fukuoka, 812, Japan
****Faculty of Enginerring, Toyo University, 2100, Nakanodai, Kujirai, Kawagoe, Saitama, 350, Japan
This paper addresses mutual collision avoidance between multiple mobile robots based on a layered strategy. In this Strategy, static motion generation and dynamic motion generation of several levels are provided , and a proper level of dynamic motion generation is selected for mutual collision avoidance according to the complexity of the situation. We have implemented two typical methods in the layered strategy , which are rules-based local collision avoidance and negotiation-based global one using communication. In each method, a robot detects collision and applies as a local method as possible. Experimental results show two actual mobile robots can achieve mutual collision avoidance based on the layered strategy.
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