A Novel Collision-Free Navigation Approach for Multiple Nonholonomic Robots Based on ORCA and Linear MPC

Figure 11

Robots state errors compared to the holonomic trajectory. (a) Robot 1 state inputs. (b) Robot 2 state inputs. (c) Robot 3 state inputs. (d) Robot 4 state inputs.

(a)

(b)

(c)

(d)