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A deadlock-free algorithm for planning a collision-free coordinated motion for two mobile robots amidst unknown environments

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This paper proposes a deadlock-free algorithm for planning a collision-free coordination for two mobile robots in an unknown environment using local information from their sensors. This algorithm achieves coordination planning by a two-level strategy. In the case where there is no risk of a collision, the robots move independently under the Bug2 algorithm proposed by Lumelsky. However, if a potential collision is expected, their motions are coordinated on the basis of a task-coordination space, which represents the position states of the robots on their paths. By controlling the motion of a point in the task-coordination space, any potential collision between the robots can be successfully avoided. The usefulness of this algorithm is discussed theoretically and shown by a simulation.

Document Type: Research Article


Affiliations: 1: Intelligent Machine Behavior Section, Division of Intelligent Systems, Electrotechnical Laboratory, Umezono 1-1-4, Tsukuba-city, Ibaraki 305, Japan 2: Department of Mathematical Engineering and Information Physics, Faculty of Engineering, University of Tokyo, Hongo 7-3-1, Bunkyo-ku, Tokyo 113, Japan

Publication date: January 1, 1992


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