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

<div>Robots <i>A</i> and <i>B</i> collide in <svg height="12.7178pt" id="M130" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 39.1851 12.7178" width="39.1851pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M570 304C570 398 525 448 414 448C385 448 343 445 312 434L329 511L321 518C297 504 262 482 244 460L233 411C195 397 159 381 128 358L135 332C160 347 189 360 224 373L111 -147C97 -210 84 -218 17 -231L13 -257L254 -247L259 -218L233 -216C183 -212 177 -202 189 -142L218 -1C238 -10 266 -12 283 -12C351 3 429 48 483 105C543 168 570 242 570 304ZM482 289C482 161 380 33 304 33C278 33 248 51 233 69L303 396C326 400 352 403 369 403C428 403 482 380 482 289Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"><path d="M722 32C646 41 636 48 622 116L544 496L509 667L472 658L153 123C106 45 93 42 27 32L18 0H259L268 32C178 40 172 48 204 107L272 233H509C523 180 533 137 540 96C548 50 546 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Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: A Novel Collision-Free Navigation Approach for Multiple Nonholonomic Robots Based on ORCA and Linear MPC 