Reciprocal Collision Avoidance for Nonholonomic Mobile Robots

In this paper, reciprocal collision avoidance is studied for nonholonomic mobile robots to achieve an efficient navigation. Two strategies are proposed to respectively adjust the linear and angular velocities so that a collision-free navigation can be achieved. By characterizing the collision-free navigation as a set of changing ratios for linear velocities, it is shown that collision can be avoided if the changing ratio of linear velocities is inside this set. Moreover, the strategy of the adjusting angular velocities is established following TTC-based method. With the combination of these two strategies, a simulation is done for four robots crossing the intersection, which shows the effectiveness of the proposed method.