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

Figure 14

Control inputs of the 4 robots with respect to time (consider static obstacles). (a) Robot 1 control inputs. (b) Robot 2 control inputs. (c) Robot 3 control inputs. (d) Robot 4 control inputs.

(a)

(b)

(c)

(d)