This paper addresses the development and implementation of an obstacle avoidance strategy for a multi-robot system operating in an unknown environment. This novel strategy is based on the conventional Bug-1 obstacle avoidance algorithm, which is a non-heuristic method for obstacle avoidance in an unknown environment. In the Bug-1 algorithm, a robot circumnavigates the obstacle to find the coordinates of the point, having minimum distance to the goal. In the case of the new strategy, two robots will circumnavigate the obstacle in such a manner that it will reduce both the total travel time and the distance traveled. Information acquired by the individual robots during the circumnavigation is shared across other robots to accomplish the obstacle avoidance efficiently. A theoretical analysis is carried out to show the improvement in travel time and energy expenditure of the robots in implementing the new strategy. Different test scenarios for comparing the performance of the obstacle avoidance strategies using simulations is also identified. The simulation studies using these scenarios suggest that the new algorithm is a better algorithm with respect to multi-robot obstacle avoidance. The experimental study conducted also shows that robots using this new algorithm have a better travel time and less energy expenditure than the conventional Bug-1 algorithm.

中文翻译：

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受Bug-1算法启发的多机器人系统新型避障策略的开发与分析

本文讨论了在未知环境中运行的多机器人系统的避障策略的开发和实施。这种新颖的策略基于传统的 Bug-1 避障算法，这是一种在未知环境中避障的非启发式方法。在 Bug-1 算法中，机器人绕过障碍物以找到与目标距离最小的点的坐标。在新策略的情况下，两个机器人将以这样的方式绕过障碍物，从而减少总行驶时间和行驶距离。各个机器人在环游过程中获取的信息在其他机器人之间共享，以有效地完成避障。进行了理论分析，以表明机器人在实施新策略时旅行时间和能量消耗的改善。还确定了使用模拟比较避障策略性能的不同测试场景。使用这些场景的模拟研究表明，新算法在多机器人避障方面是一种更好的算法。进行的实验研究还表明，使用这种新算法的机器人比传统的 Bug-1 算法具有更好的旅行时间和更少的能量消耗。使用这些场景的模拟研究表明，新算法在多机器人避障方面是一种更好的算法。进行的实验研究还表明，使用这种新算法的机器人比传统的 Bug-1 算法具有更好的旅行时间和更少的能量消耗。使用这些场景的模拟研究表明，新算法在多机器人避障方面是一种更好的算法。进行的实验研究还表明，使用这种新算法的机器人比传统的 Bug-1 算法具有更好的旅行时间和更少的能量消耗。