CBR Based Collision Avoidance Approach to Reactive Control for Multi-Robot System
Qiang Liu, Jia Chen, Qi Zhang · Applied Mechanics and Materials · 2012
In this paper we discuss a Case-Based Reasoning (CBR) method which is an on-line learning mechanism for dynamic selection and modification of behavior assemblages for collision avoidance of multi-robot system. The CBR module is designed as an additional reactive control system which provide flexible performance in novel environments without extensive high-level reasoning that would slow the system down. The results by robot simulation software MissionLab show that the CBR are effective for making decisions to avoid the collision with static obstacles as well as moving robots in multi-robot system.