Earticle

초록

영어

Avoiding collision is one of the major research fields in mobile robotics. Various researchers around the globe are working on static and dynamic collision avoidance algorithms. One such algorithm is the Optimal Reciprocal Collision Avoidance that deals with multiple robots moving in a joint space without causing collision, that also without communicating and without centralized processing. This algorithm is very effective in handling collision avoidance. However, the problem of deadlock often appears when the robots have to navigate through densely crowded environments in joint space. The aim is to move robots in a small joint space and achieve collision avoidance without facing deadlocks. For this purpose we have extended this protocol into Collaborative Optimal Reciprocal Collision Avoidance to solve the problem of deadlocks. The protocol is inspired from the traffic rules and solves the problem of deadlocks effectively. The protocol was tested upon Player-Stage based simulation where deadlocks were avoided successfully.

목차

Abstract
 1. Introduction
 2. Optimal Reciprocal Collision Avoidance (ORCA)
 3. Deadlocks and Solutions
 4. Collaborative Optimal Reciprocal Collision Avoidance (C-ORCA)
 5. Experimental Results
 6. Conclusions and Future Works
 Acknowledgement
 References

키워드

저자

• Shehryar Ali Khan [ Department of Robotics and Intelligent Machine Engineering (RIME), School of Mechanical & Manufacturing Engineering (SMME), National University of Science & Technology (NUST), H-12, Islamabad, Pakistan ]
• Yasar Ayaz [ Department of Robotics and Intelligent Machine Engineering (RIME), School of Mechanical & Manufacturing Engineering (SMME), National University of Science & Technology (NUST), H-12, Islamabad, Pakistan ]
• Mohsin Jamil [ Department of Robotics and Intelligent Machine Engineering (RIME), School of Mechanical & Manufacturing Engineering (SMME), National University of Science & Technology (NUST), H-12, Islamabad, Pakistan ]
• Syed Omer Gillani [ Department of Robotics and Intelligent Machine Engineering (RIME), School of Mechanical & Manufacturing Engineering (SMME), National University of Science & Technology (NUST), H-12, Islamabad, Pakistan ]
• Muhammad Naveed [ Department of Robotics and Intelligent Machine Engineering (RIME), School of Mechanical & Manufacturing Engineering (SMME), National University of Science & Technology (NUST), H-12, Islamabad, Pakistan ]
• Ahmed Hussain Qureshi [ Department of Robotics and Intelligent Machine Engineering (RIME), School of Mechanical & Manufacturing Engineering (SMME), National University of Science & Technology (NUST), H-12, Islamabad, Pakistan ]
• Khawaja Fahad Iqbal [ Department of Robotics and Intelligent Machine Engineering (RIME), School of Mechanical & Manufacturing Engineering (SMME), National University of Science & Technology (NUST), H-12, Islamabad, Pakistan ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605