Communication in distributed model predictive collision avoidance

Yongsoon  Yoon; H.Jin Kim; J. H. Shin; Tokson Choe; Yongwoon Park

1st International ICST Conference on Robot Communication and Coordination

Research Article

Communication in distributed model predictive collision avoidance

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@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2189,
    author={Yongsoon  Yoon and H.Jin Kim and J. H. Shin and Tokson Choe and Yongwoon Park},
    title={Communication in distributed model predictive collision avoidance},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={},
    doi={10.4108/ICST.ROBOCOMM2007.2189}
}

Yongsoon Yoon
H.Jin Kim
J. H. Shin
Tokson Choe
Yongwoon Park
Year: 2010
Communication in distributed model predictive collision avoidance
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2189

Yongsoon Yoon¹^,*, H.Jin Kim¹^,*, J. H. Shin¹^,*, Tokson Choe²^,*, Yongwoon Park²^,*

1: School of Mechanical & Aerospace Eng Seoul National University Seoul, 151-742, KOREA Tel: +82-2-880-7392
2: Agency for Defense Development Jochiwongil 461, Yuseong Daejon, KOREA Tel: +82-42-822-4271,

*Contact email: ilssoon6@snu.ac.kr, hjinkim@snu.ac.kr, jh0524@snu.ac.kr, tschoe@add.re.kr, woon5901@hanafos.com

Abstract

This paper presents a model predictive approach for collision avoidance of car-like robots. An optimal problem is formulated in terms of cost minimization under constraints. Information on each robot can be incorporated online in the nonlinear model predictive framework and kinematic constraints are treated by Karush-Kuhn-Tucker(KKT) condition. For distributed collision avoidance of multiple robots with two levels of a communication network, performances are compared. In comparison with different types of communication, how much information the robots share can cause difference in the performance. More successful collision avoidance was possible when the robots share enough amount of information.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2189