Distributed Collision Avoidance Method based on Consensus among Mobile Robotic Agents

This paper presents a new methodical approach to the problem of collision avoidance of mobile robots taking advantages of multi-agents systems to deliver solutions that benefit the whole system. The proposed method has the next phases: collision detection, obstacle identification, negotiation and collision avoidance. In addition of simulations with virtual robots in a 2D and 3D space, an implementation with real mobile robots has been developed in order to validate the proposed algorithm. The robots are based on Lego NXT, and they are equipped with a ring of proximity sensors for the collisions detections. The platform for the implementation and management of the multi-agent system is JADE.