Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots [chapter]

Chonhyon Park, Dinesh Manocha
2015 Springer Tracts in Advanced Robotics  
We present a novel algorithm for smooth and collision-free navigation for multiple human-like robots. Our approach combines reciprocal collision avoidance with kinematic and dynamic stability constraints to compute a non-oscillatory trajectory for each high-DOF robot. We use a multi-level optimization algorithm that combines accelerationvelocity obstacles with trajectory optimization. We highlight our algorithm's performance in different environments containing multiple humanlike robots with tens of DOFs.
doi:10.1007/978-3-319-16595-0_29 fatcat:hhbw27savbaolbc4r374tt2z4q