REAL-TIME PATHFINDING IN MULTIROBOT SYSTEMS INCLUDING OBSTACLE AVOIDANCE

The paper describes an approach to the solution of the find-path problem including obstacle avoidance in multirobot systems. The structure of these systems is based here on the nonlinear control approach. The method for real-time pathfinding uses a systematic design procedure which includes a hierarchical coordinator is designed for real-time collision avoidance. The collision avoidance strategy is based on an analytically described avoidance trajectory that serves for collision detection as well as avoidance. The efficiency of the approach is demonstrated for several cases of practical interest, such as collision avoidance between three robots, interaction of three stationary robots and a stationary obstacle, and interaction of mobile robots and moving obstacles.