ICRA 2012 Paper Abstract


Paper TuA09.6

Alonso-Mora, Javier (ETH / Disney Research Zurich), Breitenmoser, Andreas (ETH Zurich), Beardsley, Paul (Disney Research Zurich), Siegwart, Roland (ETH Zurich)

Reciprocal Collision Avoidance for Multiple Car-Like Robots

Scheduled for presentation during the Regular Session "Collision" (TuA09), Tuesday, May 15, 2012, 09:45−10:00, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on August 20, 2018

Keywords Collision Avoidance, Distributed Robot Systems, Networked Robots


In this paper a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented. The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collision avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles. The underlying principle of the B-ORCA algorithm applies more generally to other kinematic models, as it combines velocity obstacles with generic tracking control. The theoretical results on collision avoidance are validated by several simulation experiments between multiple car-like robots.



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