In this paper, the collision avoidance problem for non-holonomic robots moving at constant linear speeds in the 2-D plane is considered. The maneuvers to avoid collisions are designed using dynamic vortex potential fields (PFs) and their negative gradients; this formulation leads to a reciprocal behaviour between the robots, denoted as being cooperative. The repulsive field is selected as a function of the velocity and position of a robot relative to another and introducing vorticity in its definition guarantees the absence of local minima. Such a repulsive field is activated by a robot only when it is on a collision path with other mobile robots or stationary obstacles. By analysing the kinematics-based engagement dynamics in polar coordinates, it is shown that a cooperative robot is able to avoid collisions with non-cooperating robots, such as stationary and constant velocity robots, as well as those actively seeking to collide with it. Conditions on the PF parameters are identified that ensure collision avoidance for all cases. Experimental results acquired using a mobile robot platform support the theoretical contributions.
翻译:本文考虑了在二维平面上以恒定线性速度移动的非黄球体机器人避免碰撞的问题。避免碰撞的动作是使用动态涡旋潜在场及其负梯度设计的;这种配方导致机器人之间的一种相互行为,称为合作。令人厌恶的场域被选为机器人相对于另一个机器人的速度和位置的函数,并在定义中引入自惯性,保证了本地微型的不存在。这种反向场只有在机器人与其他移动机器人或固定障碍相撞的路径上才被机器人激活。通过分析极坐标上基于运动动力的接触动态,可以证明合作机器人能够避免与非合作机器人的碰撞,例如固定和恒定速度机器人,以及那些积极寻求与机器人相撞的机器人。PF参数的条件已经确定,确保在所有情况下避免碰撞。使用移动机器人平台获得的实验结果支持理论贡献。