Volume 1, Issue 3, June 2013, Page: 75-84
An Analysis of the Reciprocal Collision Avoidance of Cooperative Robots
A. Fratu, Transilvania University of Brasov, 500036 Brasov, Romania
M. Dambrine, Univ. Lille Nord de France, F-59000 Lille, France; UVHC, LAMIH, F-59313 Valenciennes, France; CNRS, UMR 8530, F-59313 Valenciennes, France
L. Vermeiren, Univ. Lille Nord de France, F-59000 Lille, France; UVHC, LAMIH, F-59313 Valenciennes, France; CNRS, UMR 8530, F-59313 Valenciennes, France
A. Dequidt, Univ. Lille Nord de France, F-59000 Lille, France; UVHC, LAMIH, F-59313 Valenciennes, France; CNRS, UMR 8530, F-59313 Valenciennes, France
Received: May 14, 2013;       Published: Jul. 30, 2013
DOI: 10.11648/j.acis.20130103.17      View  3004      Downloads  168
Abstract
This paper presents a formal approach that addresses the reciprocal robots collision avoidance, where two robots need to avoid collisions with each other, while moving in a common workspace. Based on our formulation, each physical robot acts fully independently, communicating with the corresponding virtual prototype and imitating its behavior. Each physical robot reproduces the pathway of its virtual prototype. With a view to collision avoidance, it is necessary to detect a possible collision. This action includes the potentially intersecting regions test of the corresponding virtual prototypes. The estimation of the collision-free actions on the virtual robots and the collaborative work of the physical robots which imitate their virtual prototypes are the original ideas. Based on potentially intersecting regions of the virtual robots, we identified a collision-free motion corridor for two cooperative robots. Using the definition of velocity obstacles, we derived sufficient conditions for the collision-free motion of the two virtual robots. We tested the present approach on several complex simulation scenarios involving two virtual robots and estimating collision-free actions for each of them during the cooperative tasks. The focus of this paper is the identification of the collision-free actions for two virtual robots and their behavioral imitation by the physical robots.
Keywords
Virtual Robots, Collision Detection, Reciprocal Collision Avoidance, Behavioral Imitation
To cite this article
A. Fratu, M. Dambrine, L. Vermeiren, A. Dequidt, An Analysis of the Reciprocal Collision Avoidance of Cooperative Robots, Automation, Control and Intelligent Systems. Vol. 1, No. 3, 2013, pp. 75-84. doi: 10.11648/j.acis.20130103.17
Reference
[1]
C. Fulgenzi, A. Spalanzani, C. Laugier, "Dynamic obstacle avoidance in uncertain environment combining PVOs and occupancy grid". In Proc. IEEE Int. Conf. on Robotics and Automation, pp.1610–1616, 2007.
[2]
N. K. Govindaraju, S. Redon, M. C. Lin and D. Manocha, "CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware", M. Doggett, W. Heidrich, W. Mark, A. Schilling (Editors), Graphics Hardware, 2003.
[3]
D. Hennes, D. Claes, W. Meeussen, K. Tuyls, "Multi-robot collision avoidance with localization uncertainty", In: Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems, Conitzer, Winikoff, Padgham, and van der Hoek (eds.), June, 4– 8, 2012, Valencia, Spain.
[4]
Y. Abe, M.Yoshiki, "Collision avoidance method for multiple autonomous mobile agents by implicit cooperation". IEEE/ RSJ, Int. Conf. Intelligent Robots and Systems, pp.1207-1212, 2001.
[5]
K. O. Arras, J. Persson, N. Tomatis, R. Siegwart, " Real-Time Obstacle Avoidance for Polygonal Robots With a Reduced Dynamic Window" in Proc. IEEE Int. Conf. on Robotics and Automation, Washington DC, May 2002, pp.3050-3055.
[6]
N. Galoppo, "Animation, Simulation, and Control of Soft Characters using Layered Representations and Simplified Physics-based Methods" Dissertation submitted to the faculty of the University of North Carolina Chapel Hill, 2008.
[7]
S.E. Yoon, "Interactive Visualization and Collision Detection using Dynamic Simplification and Cache-Coherent Layouts". Dissertation submitted to the faculty of the University of North Carolina, Chapel Hill, 2006.
[8]
A. Fratu, L. Vermeiren, A., Dequidt, "Using the Redundant Inverse Kinematics System for Collision Avoidance. The 3rd International Symposium on Electrical and Electronics Engineering - ISEEE- 2010, 16-18 sept. Galati, Romania, Proceedings ISBN 978-1- 4244-8407-2, pp. 88-93.
[9]
A. Fratu, "Method and installation for joints trajectory planning of a physical robot arm" (proposal - patent) unpublished.
[10]
J. van den Berg, S. Guy, M. Lin, D. Manocha, " Reciprocal n-body collision avoidance". In: Proc. Int. Symposium on Robotics Research, 2009
[11]
J. van den Berg, S. J. Guy, M. Lin, and D. Manocha, C. Pradalier, R. Siegwart, and G. Hirzinger, "Reciprocal n-body collision avoidance", Robotics Research, The 14th International Symposium ISRR, Springer Tracts in Advanced Robotics, vol. 70, Springer-Verlag, May 2011, pp. 3-19.
[12]
J. Snape, J. van den Berg, S. J. Guy, and D. Manocha, "Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, St. Louis, Mo., 2009.
[13]
J. Snape, S. J. Guy, J. van den Berg, S. Curtis, S. Patil, M. Lin, and D. Manocha, "Independent navigation of multiple robots and virtual agents". In Proc. of the 9th Int. Conf. on Autonomous Agents and Multi agents Systems (AAMAS 2010), Toronto, Canada, May 2010.
[14]
S. J. Guy, J. Chhugani, C. Kim, N. Satish, M. Lin, D. Manocha, and P. Dubey, " Clear Path: Highly Parallel Collision Avoidance for Multi-Agent Simulation" In: Proc. ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), Aug. 2009.
[15]
J. Snape, J.van den Berg, S.J. Guy, D. Manocha, "S-ORCA: Guaranteeing Smooth and Collision-Free Multi-Robot Navigation Under Differential-Drive Constraints". In: Proc. IEEE Int. Conf. Robotics and Automation, 2010.
[16]
D. M. Stipanovic, P. F. Hokayem, M. W. Spong, D. D. Siljak, "Cooperative Avoidance Control for Multiagent Systems". In: ASME Journal of Dynamic Systems Measurement and Control, Vol.129, pp. 699–707, 2007.
[17]
R. Diankov and J. Kuffner, "Openrave: A planning architecture for autonomous robotics". Technical report, CMU-RI-TR-08-34, The Robotics Institute, Carnegie Mellon University, 2008.
[18]
M. Turpin, N. Michael, V. Kumar," Trajectory planning and assignment in multi robot systems". Proc. Workshop on Algorithmic Foundations of Robotics, 2012.
[19]
J. van den Berg, D. Wilkie, S. Guy, M. Niethammer, D. Manocha, "LQG-Obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing un-certainty." IEEE Int. Conf. on Robotics and Automation, River Centre, Saint Paul, Minnesota, USA, May 14-18, 2012, pp. 346- 353.
[20]
Y. Li and K. Gupta, "Motion planning of multiple agents in virtual environments on parallel architectures," in Proc. IEEE Int. Conf. on Robotics and Automation, 2007, pp. 1009–1014.
Browse journals by subject