Deadlock-Free Collision Avoidance for Nonholonomic Robots

Ruochen Zheng, Siyu Li
5/8/2023
cs.ROcs.MA

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Abstract

We present a method for deadlock-free and collision-free navigation in a multi-robot system with nonholonomic robots. The problem is solved by quadratic programming and is applicable to most wheeled mobile robots with linear kinematic constraints. We introduce masked velocity and Masked Cooperative Collision Avoidance (MCCA) algorithm to encourage a fully decentralized deadlock avoidance behavior. To verify the method, we provide a detailed implementation and introduce heading oscillation avoidance for differential-drive robots. To the best of our knowledge, it is the first method to give very promising and stable results for deadlock avoidance even in situations with a large number of robots and narrow passages.

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Cite this paper

@article{zheng2023deadlockfree,
  title  = {Deadlock-Free Collision Avoidance for Nonholonomic Robots},
  author = {Ruochen Zheng and Siyu Li},
  year   = {2023},
  eprint = {2305.04511},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2305.04511v1}
}

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