Distributed Swarm Collision Avoidance Based on Angular Calculations
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the least amount of energy. In this paper, a distributed and real-...
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ftdatacite:10.48550/arxiv.2108.12934 2023-05-15T17:53:32+02:00 Distributed Swarm Collision Avoidance Based on Angular Calculations Qazavi, SeyedZahir Semnani, Samaneh Hosseini 2021 https://dx.doi.org/10.48550/arxiv.2108.12934 https://arxiv.org/abs/2108.12934 unknown arXiv arXiv.org perpetual, non-exclusive license http://arxiv.org/licenses/nonexclusive-distrib/1.0/ Robotics cs.RO Artificial Intelligence cs.AI Multiagent Systems cs.MA FOS Computer and information sciences Article CreativeWork article Preprint 2021 ftdatacite https://doi.org/10.48550/arxiv.2108.12934 2022-03-10T14:19:34Z Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the least amount of energy. In this paper, a distributed and real-time algorithm for dense and complex 2D and 3D environments is proposed. This algorithm uses angular calculations to select the optimal direction for the movement of each robot and it has been shown that these separate calculations lead to a form of cooperative behavior among agents. We evaluated the proposed approach on various simulation and experimental scenarios and compared the results with FMP and ORCA, two important algorithms in this field. The results show that the proposed approach is at least 25% faster than ORCA and at least 7% faster than FMP and also more reliable than both methods. The proposed method is shown to enable fully autonomous navigation of a swarm of crazyflies. Article in Journal/Newspaper Orca DataCite Metadata Store (German National Library of Science and Technology) |
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DataCite Metadata Store (German National Library of Science and Technology) |
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topic |
Robotics cs.RO Artificial Intelligence cs.AI Multiagent Systems cs.MA FOS Computer and information sciences |
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Robotics cs.RO Artificial Intelligence cs.AI Multiagent Systems cs.MA FOS Computer and information sciences Qazavi, SeyedZahir Semnani, Samaneh Hosseini Distributed Swarm Collision Avoidance Based on Angular Calculations |
topic_facet |
Robotics cs.RO Artificial Intelligence cs.AI Multiagent Systems cs.MA FOS Computer and information sciences |
description |
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the least amount of energy. In this paper, a distributed and real-time algorithm for dense and complex 2D and 3D environments is proposed. This algorithm uses angular calculations to select the optimal direction for the movement of each robot and it has been shown that these separate calculations lead to a form of cooperative behavior among agents. We evaluated the proposed approach on various simulation and experimental scenarios and compared the results with FMP and ORCA, two important algorithms in this field. The results show that the proposed approach is at least 25% faster than ORCA and at least 7% faster than FMP and also more reliable than both methods. The proposed method is shown to enable fully autonomous navigation of a swarm of crazyflies. |
format |
Article in Journal/Newspaper |
author |
Qazavi, SeyedZahir Semnani, Samaneh Hosseini |
author_facet |
Qazavi, SeyedZahir Semnani, Samaneh Hosseini |
author_sort |
Qazavi, SeyedZahir |
title |
Distributed Swarm Collision Avoidance Based on Angular Calculations |
title_short |
Distributed Swarm Collision Avoidance Based on Angular Calculations |
title_full |
Distributed Swarm Collision Avoidance Based on Angular Calculations |
title_fullStr |
Distributed Swarm Collision Avoidance Based on Angular Calculations |
title_full_unstemmed |
Distributed Swarm Collision Avoidance Based on Angular Calculations |
title_sort |
distributed swarm collision avoidance based on angular calculations |
publisher |
arXiv |
publishDate |
2021 |
url |
https://dx.doi.org/10.48550/arxiv.2108.12934 https://arxiv.org/abs/2108.12934 |
genre |
Orca |
genre_facet |
Orca |
op_rights |
arXiv.org perpetual, non-exclusive license http://arxiv.org/licenses/nonexclusive-distrib/1.0/ |
op_doi |
https://doi.org/10.48550/arxiv.2108.12934 |
_version_ |
1766161232128114688 |