Collision Avoidance Among Multiple Robots Using Virtual Impedance
Tamio Arai, H. Ogata, Takahiro Suzuki · 2005
path planning. The higher layei generates a trajectory from the current position to the goal. 'The lower layer controls the servo driver to follow the generated trajectory while avriidinp, obstaclcs. This laycr is composcd of thrce modules called watchdog, 'navigator*. and The local equilibrium is detected by the watchdog and canceled by the deadlock solver. The relationship among the members is discussed to