Motion Planning Based on Local Sensor information For Two Mobile Robots Amidst Unknown Environments.
Yunhui Liu, Suguru Arimoto · Journal of the Robotics Society of Japan · 1992
When multiplemobilerobots are working in the same environment, it is necessary to plan such motions for the robots that they never collide each other.This paper proposes a useful algorithm for planning a collision-free coordination for two mobile robots in an unknown environment on the basis of local information from their sensors.This algorithm conquers the problem of coordination planning by a two-levels strategy.In the case that no collision between two robots is detected, the robots are independently guided by the motion planning algorithm proposed by V. Lumelsky.However, in the case that a potential collision is expected, their motions are coordinated to avoid the collision.To coordinate the robots, a two-dimensional task space (T-space) and a point automaton are introduced.By controlling the motion of the automaton in the T-space, any collision between the robots can be successfully aboided.Convergence of the proposed algorithm is proved, and its usefulness is shown by a simulation.