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JRM Vol.8 No.5 pp. 459-466
doi: 10.20965/jrm.1996.p0459
(1996)

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

Received:
June 13, 1996
Accepted:
July 10, 1996
Published:
October 20, 1996
Keywords:
Multiple mobile robots, Collision avoidance, Communication, Traffic rule, Negotiation
Abstract

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.

Cite this article as:
Koichi Ozaki, Hajime Asama, Yoshiki Ishida,
Akihiro Matsumoto, and Isao Endo, “Collision Avoidance Using Communication between Autonomous Mobile Robots,” J. Robot. Mechatron., Vol.8, No.5, pp. 459-466, 1996.
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