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A Collision Avoidance Algorithm for Two Mobile Robots with Independent Goals in Skeleton Map

골격지도에서 개별 목표를 갖는 두 이동로봇의 충돌 회피 알고리즘

  • 양동훈 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • Published : 2006.07.01

Abstract

This paper proposes a collision avoidance algorithm for two mobile robots with independent goals in a same workspace. Using skeleton map, an environment is presented as a graph consisting of nodes and arcs. Robots generate the shortest set of paths using the combination of objective functions of the two robots. Path for collision avoidance of a robot can be selected among three class; the shortest path, detour, paths with a waiting time at safety points around crossing points. Simulation results are presented to verify the efficiency of the proposed algorithms.

Keywords

References

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