A Finding Place Method Considering distance between Robots

Autonomous mobile robots make paths when moving, but if the made path overlaps with the paths of other robots, there is a possibility of collision, so it is necessary to remake non-collision paths. At that time, it wants to pass a path that is a certain distance away from the other robot. Therefore, it is necessary to find a place where the robots can pass the other robot and there is no collision, and to avoid collision. When the robot moves in the direction of the other robot at a constant speed, both collided at the midpoint. Therefore, in this paper, we propose a method to find a place with the necessary distance to pass at the midpoint. Next, we evaluate the performance of the proposed method by observing the relative distances and paths with the other robot in a dynamic environment on the Gazebo simulator.