Iterative algorithm for the decomposed cooperative collision avoidance method
Yoshiaki Abe, Yoshiki Matsuo · Society of Instrument and Control Engineers of Japan · 2004
Cooperative collision avoidance for multiple mobile robot systems is a subject of this paper. Previously, the authors have proposed a series of the CCA methods based on a concept of the common velocity obstacle. In this paper, the iterative decomposed CCA method is proposed, where residual of the existing DCCA method is utilized as a feedback input and reduced iteratively.