Collision Avoidance for Multi-robot Navigation

This paper introduces two representative distributed navigation methods with collision avoidance algorithms for multi-agent systems, the Reciprocal Velocity Obstacle method and the Buffered Voronoi Cell-based method. The definitions and principles of these two methods are introduced firstly by explaining the meaning of each function and making examples. Secondly, each method has a validation experiment to simulate them. By doing those simulations, the stability and performance are proven to fit the designers’ ideals. Finally, the result is shown as pictures to visualize the success of both methods. This paper may be seen as a reference to design a multi-robot system or develop a new approach to navigation algorithm.