Cooperative Collision Avoidance between Multiple Robots based on Bernstein-Bézier Curves

Igor Škrjanc, Gregor Klančar

Abstract

In this paper a new cooperative collision-avoidance method for multiple nonholonomic robots based on Bernstein- B´ezier curves is presented. The reference path of each robot from the start pose to the goal pose, is obtained by minimizing the penalty function, which takes into account the sum of all the paths subjected to the distances between the robots, which should be bigger than the minimal distance defined as the safety distance. When the reference paths are defined the model predictive trajectory tracking is used to define the control. A prediction model derived from linearized tracking-error dynamics is used to predict future system behavior. A control law is derived from a quadratic cost function consisting of the system tracking error and the control effort. The results of the simulation and some future work ideas are discussed.

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Paper Citation


in Harvard Style

Škrjanc I. and Klančar G. (2007). Cooperative Collision Avoidance between Multiple Robots based on Bernstein-Bézier Curves . In Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007) ISBN 978-972-8865-86-6, pages 34-43. DOI: 10.5220/0001634600340043


in Bibtex Style

@conference{mars07,
author={Igor Škrjanc and Gregor Klančar},
title={Cooperative Collision Avoidance between Multiple Robots based on Bernstein-Bézier Curves},
booktitle={Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)},
year={2007},
pages={34-43},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001634600340043},
isbn={978-972-8865-86-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)
TI - Cooperative Collision Avoidance between Multiple Robots based on Bernstein-Bézier Curves
SN - 978-972-8865-86-6
AU - Škrjanc I.
AU - Klančar G.
PY - 2007
SP - 34
EP - 43
DO - 10.5220/0001634600340043