A deadlock-free algorithm for planning a collision-free coordinated motion for two mobile robots amidst unknown environments
Yun-Hui Liu, Suguru Arimoto · Advanced Robotics · 1992
This paper proposes a deadlock-free algorithm for planning a collision-free coordination for two mobile robots in an unknown environment using local information from their sensors. This algorithm achieves coordination planning by a two-level strategy. In the case where there is no risk of a collision, the robots move independently under the Bug2 algorithm proposed by Lumelsky. However, if a potential collision is expected, their motions are coordinated on the basis of a task-coordination space, which represents the position states of the robots on their paths. By controlling the motion of a point in the task-coordination space, any potential collision between the robots can be successfully avoided. The usefulness of this algorithm is discussed theoretically and shown by a simulation.