Voronoi-based Multi-robot Collision Avoidance with Localization Uncertainty
Hongchao Li, Jianye Ouyang, Sicheng Yue · 2021
Multi-robot collision is a subject about different robots in the same environment and this environment has some border. This article introduces a multi-robot collision prevention strategy in the light of the V oronoi Diagram. Specifically, the proposed distributed algorithm incorporates the buffered V oronoi diagram with deadlock avoidance scheme to allow a team of robots to navigate to their goals safely and efficiently even when robots suffer from localization error in real-world scenarios. We validate our method based on simulations to demonstrate that the robots can effectively avoid collision and deadlock while navigating. These results shed light for increasing the safety in Muti-robot Collision with location uncertainty problem.