This study presents a motion planning method for coordinating multiple mobile robots for collision-free navigation. A control architecture that uses cloud computing is proposed for the acquisition of real-time robotic data and to coordinate multiple robots in an unstructured environment. The system consists of collision-free path planning for multiple robots, obstacle avoidance, and navigation control. The path planning method was developed based on the optimal reciprocal collision avoidance (ORCA) algorithm to generate a velocity set of each robot in the system. A laser scanner is used to detect obstacles for each robot. Appropriate obstacle avoidance behaviors are generated using sensory information. A behavior-fusion control scheme combines obstacle avoidance and collision-free path planning to coordinate multiple robots. The proposed anti-collision motion planning method for multiple robots prevents collisions with unexpected obstacles and with other robots in the environment. The experimental results show that multiple mobile robots can navigate to targets that are assigned by the cloud server without colliding with other robots, regardless of whether there are unexpected static or dynamic obstacles in the environment.

中文翻译：

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使用云计算协调多个移动机器人进行避障

本研究提出了一种协调多个移动机器人进行无碰撞导航的运动规划方法。提出了一种使用云计算的控制架构，用于获取实时机器人数据并在非结构化环境中协调多个机器人。该系统由多机器人无碰撞路径规划、避障和导航控制组成。路径规划方法是基于最优相互碰撞避免 (ORCA) 算法开发的，以生成系统中每个机器人的速度集。激光扫描仪用于检测每个机器人的障碍物。使用感官信息生成适当的避障行为。行为融合控制方案结合避障和无碰撞路径规划来协调多个机器人。所提出的多机器人防碰撞运动规划方法可防止与意外障碍物和环境中的其他机器人发生碰撞。实验结果表明，无论环境中是否存在意外的静态或动态障碍物，多个移动机器人都可以导航到云服务器指定的目标，而不会与其他机器人发生碰撞。