Vector Approach of Collision Prognosis of Mobile Robots

摘要

If several mobile robots are operating in the same environment, it is necessary to create a control system in order to avoid not only obstacles but also inter-collisions. Usually, paths of robots are designed, to ensure movement without collisions with obstacles and each other [1,2,3], but it also restricts the "freedom" of movement of robots, is more appropriate to resolve conflicts dynamically. It is necessary to predict the potential conflicts between robots for this purpose. Assume that the robot can "see" the other robots, and to determine direction and speed of their movement, or is controlled by supervision system which "see" all the robots, and can "communicate" with them. Capability to predict collisions is necessary in both cases. The method to predict possible collisions is described in this paper, i.e. the method and program of a robot or supervisor actions to achieve this result is proposed, but there is no deal with ways to avoid them.