Roadmap-Based Collision-Free Motion Planning for Multiple Moving Agents in a Smart Home Environment

摘要

This paper proposes an approach to collision-free navigation for multiple moving agents in a smart home environment using the visibility map which is one of road maps. The visibility map plans collision-free paths of agents against stationary obstacles. The collision-free paths are represented by Hermite curves taking into consideration smoothness of the path and its first derivative. For collision-free motion planning among multiple moving agents, the collision map scheme proposed to effectively analyze collisions between two robots is employed. According to the result of the collision analysis, time scheduling is applied for realizing collision avoidance. Simulation results show the effectiveness and feasibility of the proposed approach in collision-free navigation of multiple moving agents.