Collision and Deadlock Avoidance in Multi-Robot Systems Based on Glued Nodes

作     者：Zichao Xing Xinyu Chen Xingkai Wang Weimin Wu Ruifen Hu Zichao Xing;Xinyu Chen;Xingkai Wang;Weimin Wu;Ruifen Hu

作者机构：The authors are with the State Key Laboratory of Industrial Control TechnologyInstitute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China IEEE 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2022年第9卷第7期

页      面：1327-1330页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：lock collision letter 

摘      要：Dear editor,In this letter,we would like to discuss a method to avoid collisions and deadlocks in multi-robot systems based on a new concept of glued *** terms of collision and deadlock avoidance,many methods are based on zone control which has two ***,unless all nodes are collision-free,the roadmap must be divided into disjoint zones,which increases the difficulty of applying the ***,each zone should be able to accommodate a robot,which leads to imprecision and waste of *** letter proposes the concept of glued nodes,which can dynamically determine the mutual influence between nodes based on the real-time sizes and paths of the *** on the glued nodes,this letter proposes a collision and deadlock avoidance algorithm,which can be applied to multi-robot systems with variable-sized robots and roadmaps with any *** experimental results indicate that the method proposed in this letter is effective and efficient.