Smooth and collision-free navigation for multiple robots under differential-drive constraints
Jamie Snape, Jur van den Berg, Stephen J. Guy, Dinesh Manocha · 2010
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.