{"title":"差分驱动约束下多机器人的平滑无碰撞导航","authors":"J. Snape, J. V. D. Berg, S. Guy, Dinesh Manocha","doi":"10.1109/IROS.2010.5652073","DOIUrl":null,"url":null,"abstract":"We present a method for smooth and collision-free navigation for multiple independent robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal collision avoidance formulation and guarantees both smoothness in the trajectories of the robots and locally collision-free paths. We provide proofs of these guarantees and demonstrate the effectiveness of our method in experimental scenarios using iRobot Create mobile robots navigating amongst each other.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"97","resultStr":"{\"title\":\"Smooth and collision-free navigation for multiple robots under differential-drive constraints\",\"authors\":\"J. Snape, J. V. D. Berg, S. Guy, Dinesh Manocha\",\"doi\":\"10.1109/IROS.2010.5652073\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We present a method for smooth and collision-free navigation for multiple independent robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal collision avoidance formulation and guarantees both smoothness in the trajectories of the robots and locally collision-free paths. We provide proofs of these guarantees and demonstrate the effectiveness of our method in experimental scenarios using iRobot Create mobile robots navigating amongst each other.\",\"PeriodicalId\":420658,\"journal\":{\"name\":\"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"17 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"97\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2010.5652073\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2010.5652073","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Smooth and collision-free navigation for multiple robots under differential-drive constraints
We present a method for smooth and collision-free navigation for multiple independent robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal collision avoidance formulation and guarantees both smoothness in the trajectories of the robots and locally collision-free paths. We provide proofs of these guarantees and demonstrate the effectiveness of our method in experimental scenarios using iRobot Create mobile robots navigating amongst each other.
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