Multi-robot collision-free navigation based on reciprocal orientation

In this paper, a new method for robot navigation in dynamic environments, called the reciprocal orientation algorithm, is introduced. This algorithm deals with the case in which each robot moves without direct communication with the other robots. The algorithm suggested in this paper uses the concept of reciprocal orientation which guarantees both smooth and collision-free robot trajectories. The algorithm is implemented in several simulation scenarios, some of them involving tens of robots. The deadlock problem, which occurs between two robots, has been solved by using an adequate deadlock resolution algorithm.

► A new algorithm for collision-free multi-robot navigation is introduced. ► The new algorithm is based on reciprocal orientation adjustment between two colliding robots. ► It is particularly efficient and easy to implement. ► Comparison with previously discussed algorithms in four different standard scenarios is presented.