Abstract
This paper focuses on decentralized coordination for small or medium groups of heterogeneous mobile robots with relatively low computational resources. Specifically, we consider coordinated obstacle avoidance techniques for mobile platforms performing high level tasks, such as patrolling or exploration. In more details, we propose the use of a greedy kinodynamic collision avoidance approach for the single robots and the use of the the Max-sum algorithm for multi-robot coordination. The system implementation and its testing are based on the popular robot middleware ROS and the gazebo simulation environment. Obtained results show that our distributed collision avoidance approach is able to achieve safe navigation in real-time with a very low overhead in terms of computation and communication.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Aji, S.M., McEliece, R.J.: The generalized distributive law. IEEE Transactions on Information Theory 46(2), 325–343 (2000), doi:10.1109/18.825794
Bekris, K.E., Tsianos, K., Kavraki, L.E.: Safe and distributed kinodynamic replanning for vehicular networks. Mobile Networks and Applications 14(3) (2009)
Van den Berg, J., Lin, M., Manocha, D.: Reciprocal velocity obstacles for real-time multi-agent navigation. In: IEEE International Conference on Robotics and Automation 2008, pp. 1928–1935. IEEE (2008)
Brock, O., Khatib, O.: High-speed navigation using the global dynamic window approach. In: IEEE International Conference on Robotics and Automation 1999, vol. 1, pp. 341–346. IEEE (1999)
Bruce, J., Veloso, M.: Safe multi-robot navigation within dynamics constraints. In: Proceedings of the IEEE, Special Issue on Multi-Robot Systems (2006)
Chan, N., Kuffner, J., Zucker, M.: Improved motion planning speed and safety using regions of inevitable collision. In: 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, RoManSy 2008 (2008)
Clark, C., Rock, S.M., Latombe, J.-C.: Motion planning for multiple mobile robot systems using dynamic networks. In: IEEE Int. Conference on Robotics and Automation, pp. 4222–4227 (2003)
Fiorini, P., Shiller, Z.: Motion planning in dynamic environments using velocity obstacles. The International Journal of Robotics Research 17(7), 760–772 (1998)
Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robotics & Automation Magazine 4(1), 23–33 (1997)
Fraichard, T., Asama, H.: Inevitable collision states. a step towards safer robots? In: Intelligent Robots and Systems 2003, vol. 1, pp. 388–393 (2003), doi:10.1109/IROS.2003.1250659
Guestrin, C., Koller, D., Parr, R.: Multiagent planning with factored MDPs (2001)
Hart, P., Nilsson, N., Raphael, B.: A Formal Basis for the Heuristic Determination of Minimum Cost Paths. IEEE Transactions on Systems Science and Cybernetics 4(2), 100–107 (1968), doi:10.1109/TSSC.1968.300136
Kalisiak, M., van de Panne, M.: Faster motion planning using learned local viability models. In: ICRA 2007, pp. 2700–2705 (2007)
Kschischang, F.R., Frey, B.J., Loeliger, H.-A.: Factor graphs and the sum-product algorithm. IEEE Transactions on Information Theory 47, 498–519 (1998)
LaValle, S.M., Kuffner Jr., J.J.: Randomized kinodynamic planning (1999)
Van Den Berg, J., Guy, S., Lin, M., Manocha, D.: Reciprocal n-body collision avoidance. Robotics Research, 3–19 (2011)
Wikman, T.S., Branicky, M.S., Newman, W.S.: Reflexive collision avoidance: A generalized approach. In: ICRA (3), pp. 31–36 (1993)
Yang, Y., Brock, O.: Elastic roadmaps–motion generation for autonomous mobile manipulation. Auton. Robots 28, 113–130 (2010), doi: http://dx.doi.org/10.1007/s10514-009-9151-x
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Boscolo, N., De Battisti, R., Munaro, M., Farinelli, A., Pagello, E. (2013). A Distributed Kinodynamic Collision Avoidance System under ROS. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_47
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_47
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)