Abstract
This paper addresses the problem of collision avoidance along specified paths in multiple mobile robot systems. These collisions can be represented by points of intersection or coincident segments between paths. The proposal of the work is to model these segments where the collision is possible through fictitious points. In addition, the advantages of the nonlinear versus mixed integer linear formulation, widely used in the literature, are verified. Comparisons were made and it’s proved the superiority of the proposed method with respect to complexity, computational time and inclusion of nonlinear constraints. Moreover, the simulations performed using this technique indicate that the method is promissory for applications in real systems.
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Acknowledgments
The authors would like to thank CNPq, FAPEMIG, INERGE and the Project “TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact NORTE-01-0145-FEDER-000020” is financed by the North Portugal Regional Operational Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF). This work is financed by the ERDF - European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme, and by National Funds through the FCT - Fundaa̧o para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) within project POCI-01-0145-FEDER-006961.
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Souza, M.B.A., de Oliveira, E.J., de Oliveira, L.W., Moreira, A.P.G.M. (2018). Collision Avoidance for Multi-robot Systems with Coincident Paths Based on Fictitious Collision Points Using Nonlinear Formulation. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_6
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DOI: https://doi.org/10.1007/978-3-319-70833-1_6
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