Behavior-based multi-robot collision avoidance

Autonomous robot teams that simultaneously dispatch transportation tasks are playing a more and more important role in the industry. In this paper we consider the multi-robot motion planning problem in large robot teams and present a decoupled approach by combining decentralized path planning methods and swarm technologies. Instead of a central coordination, a proper behavior which is directly selected according to the context is used by the robot to keep cooperating with others and to resolve path collisions. We show experimentally that the quality of solutions and the scalability of our method are significantly better than those of conventional decoupled path planning methods. Furthermore, compared to conventional swarm approaches, our method can be widely applied in large-scale environments.

Authors

• Dali Sun
• Alexander Kleiner
• Bernhard Nebel

Keywords

• Robot kinematics
• Collision avoidance
• Planning
• System recovery
• Navigation
• Buildings
• Path Planning
• Solution Quality
• Planning Methods
• Role In Industry
• Larger Team
• Transportation Tasks
• Crowding
• Actual Behavior
• Video Games
• Undirected
• Avoidance Behavior
• Frontal Areas
• Material Flow
• Critical Areas
• Inertial Measurement Unit
• Road Map
• Assignment Problem
• Grid Map
• Swarm Intelligence
• Laser Ranging
• Traffic Rules
• Swarming Behavior
• Robotic Group