Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots

摘要

We present a novel algorithm for smooth and collision-free navigation for multiple human-like robots. Our approach combines reciprocal collision avoidance with kinematic and dynamic stability constraints to compute a non-oscillatory trajectory for each high-DOF robot. We use a multi-level optimization algorithm that combines acceleration-velocity obstacles with trajectory optimization. We highlight our algorithm's performance in different environments containing multiple humanlike robots with tens of DOFs.