Collision Avoidance Algorithm of Mobile Robots at Grid Map Intersection Point

Abstract

In this study, we propose a collision avoidance algorithm for mobile robots that can be applied to distribution centers. The proposed algorithm effectively avoids the collision of several robots, moving simultaneously in a distribution center. It can be applied where the driving environment of the robots is composed of a grid map, and the path planning of individual robots is generated by the D* Lite algorithm. The proposed algorithm operates in a way that the new path and movement strategy of individual robots are reset when the collision of multiple robots is expected at any grid point. It operates on a central server and transmits the paths of individual robots. Simulation was performed in this study to evaluate the performance of the proposed algorithm, and the results showed that collision was effectively avoided in each situation.