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

Figure 15

Robots state errors compared to the holonomic trajectory generated by ORCA (consider static obstacles). (a) Robot 1 state errors. (b) Robot 2 state errors. (c) Robot 3 state errors. (d) Robot 1 state errors.

(a)

(b)

(c)

(d)