Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Collision Avoidance among Multiple Mobile Robots
A Local Approach Based on Non-linear Programming
Mamoru SAITOToshihiro TSUMURA
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1990 Volume 3 Issue 8 Pages 252-260


This paper presents a local approach for real-time collision avoidance among autonomous mobile robots based on non-linear programming. Here, we consider multiple mobile robots travelling to their own destinations in a two-dimensional workspace, e. g., automated guided vehicles in a factory shop. Each robot is assumed to have its identical area and limited sensing area represented by closed circles. In this approach, a distance function between neighbouring two robots is introduced to set up the velocity vector constraint for robots. The desired velocity vector, which enables a robot to navigate without collision by following it, is given as the optimal solution of the objective function under this velocity vector constraint. Our method is implemented using the computer simulated robots. The feasibility and effectiveness of our method are also discussed through the simulation results.

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