Dynamic collision avoidance for redundant multi-robot systems

This paper presents a new approach to the on-line planning of collision-free robot motions and evasive actions for redundant multi-robot/multi-obstacle environments. Like the collision avoidance methodology CARE (Collision Avoidance in Real-time Environments) [10], on which this new approach is based, it is a local planning approach, which considers shortest distances and relative velocities between objects. This results in an intuitively comprehensible model to determine potential collision danger and provides the basis of a new way of treating collision free path-planning as an optimization problem. This optimization problem is solved in real-time and provides a mathematically exact solution of the path-planning problem considering all endangering static and dynamic objects in the environment.