Collision Avoidance in a Multi-robot System by Emulating Human Behaviour

This paper proposes a collision avoidance strategy for a multi-robot system, where every robot is considered fully autonomous. The strategy is developed based on a typical human behaviour to avoid a collision while walking. The paper also explores the possibility of using ultrasonic transceivers, fixed on-board every robot as a substitute for vision to determine the position, velocity and direction of motion of another robot. The concept of transformation of inertial frame of reference to determine the position and time of a collision is also suggested. The efficacy of the strategy is demonstrated by means of simulated examples. The simulation program is coded in c++.