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


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

June 13, 1996
July 10, 1996
October 20, 1996
Multiple mobile robots, Collision avoidance, Communication, Traffic rule, Negotiation
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:
K. Ozaki, H. Asama, Y. Ishida, A. Matsumoto, and I. Endo, “Collision Avoidance Using Communication between Autonomous Mobile Robots,” J. Robot. Mechatron., Vol.8 No.5, pp. 459-466, 1996.
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